wip: working comms with io module heart beats

Author: KoffeinFlummi

firmwares/fancyfins/src/can.rs

@@ -1,12 +1,13 @@
 use defmt::*;
 use embassy_executor::Spawner;
-use embassy_stm32::can::bxcan::{filter, Fifo, Frame, Id, StandardId};
+use embassy_stm32::can::bxcan::{Fifo, Frame, Id, StandardId, filter};
 use embassy_stm32::can::{Can, CanRx, CanTx};
 use embassy_stm32::peripherals::CAN;
 use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
 
 use embassy_sync::pubsub::{PubSubChannel, Publisher, Subscriber};
-use shared_types::{CanBusMessage, CanBusMessageId, FlightMode, TelemetryToPayloadMessage};
+use shared_types::FlightMode;
+//use shared_types::{CanBusMessage, CanBusMessageId, FlightMode, TelemetryToPayloadMessage};
 use static_cell::StaticCell;
 
 pub const CAN_QUEUE_SIZE: usize = 3; // TODO
@@ -46,8 +47,9 @@ pub async fn spawn(
         .leave_disabled();
 
     let telemetry_filter = filter::Mask32::frames_with_std_id(
-        StandardId::new(CanBusMessageId::TelemetryBroadcast(0).into()).unwrap(),
-        StandardId::new(0x700).unwrap(),
+        //StandardId::new(CanBusMessageId::TelemetryBroadcast(0).into()).unwrap(),
+        StandardId::new(0x1af).unwrap(),
+        StandardId::new(0x7ff).unwrap(),
     );
 
     can.modify_filters().enable_bank(0, Fifo::Fifo0, telemetry_filter);
@@ -86,9 +88,11 @@ async fn run_rx(
     can_rx: &'static mut CanRx<'static, 'static, CAN>,
     publisher: Publisher<'static, CriticalSectionRawMutex, CanFrame, CAN_QUEUE_SIZE, NUM_CAN_SUBSCRIBERS, 1>,
 ) -> ! {
+    info!("Running RX...");
     loop {
         match can_rx.read().await {
             Ok(envelope) => {
+                info!("got envelope");
                 let frame = envelope.frame;
                 let Some(data) = frame.data() else {
                     continue;
@@ -121,10 +125,11 @@ pub async fn run_flight_mode_listener(
 ) -> ! {
     loop {
         let (sid, data) = can_subscriber.next_message_pure().await;
-        if sid == CanBusMessageId::TelemetryBroadcast(0).into() {
-            if let Ok(Some(msg)) = TelemetryToPayloadMessage::parse(data) {
-                flight_mode_publisher.publish_immediate(msg.mode);
-            }
-        }
+        info!("blub");
+        //if sid == CanBusMessageId::TelemetryBroadcast(0).into() {
+        //    if let Ok(Some(msg)) = TelemetryToPayloadMessage::parse(data) {
+        //        flight_mode_publisher.publish_immediate(msg.mode);
+        //    }
+        //}
     }
 }

firmwares/fancyfins/src/main.rs

@@ -2,20 +2,20 @@
 #![no_main]
 
 use embassy_executor::Spawner;
+use embassy_stm32::Config;
 use embassy_stm32::adc::Adc;
 use embassy_stm32::gpio::Input;
 use embassy_stm32::peripherals::*;
 use embassy_stm32::time::Hertz;
 use embassy_stm32::wdg::IndependentWatchdog;
-use embassy_stm32::Config;
 use embassy_sync::pubsub::PubSubChannel;
 use embassy_time::{Delay, Duration, Ticker};
 
 use {defmt_rtt as _, panic_probe as _};
 
 mod can;
 mod leds;
-mod strain_gauge;
+//mod strain_gauge;
 
 use can::*;
 
@@ -51,7 +51,7 @@ async fn main(low_priority_spawner: Spawner) {
     let p = embassy_stm32::init(config);
 
     // Remap CAN to be on PB8/9
-    embassy_stm32::pac::AFIO.mapr().modify(|w| w.set_can1_remap(2));
+    //embassy_stm32::pac::AFIO.mapr().modify(|w| w.set_can1_remap(2));
 
     let addr0 = Input::new(p.PA8, embassy_stm32::gpio::Pull::Up);
     let addr1 = Input::new(p.PA9, embassy_stm32::gpio::Pull::Up);
@@ -69,7 +69,7 @@ async fn main(low_priority_spawner: Spawner) {
     let can_in = CAN_IN.init(PubSubChannel::new());
     let can_out = CAN_OUT.init(PubSubChannel::new());
     // Can RX on PB8 can TX on PB9
-    let can = embassy_stm32::can::Can::new(p.CAN, p.PB8, p.PB9, Irqs);
+    let can = embassy_stm32::can::Can::new(p.CAN, p.PA11, p.PA12, Irqs);
 
     // Start main CAN RX/TX tasks
     can::spawn(can, low_priority_spawner, can_in.publisher().unwrap(), can_out.subscriber().unwrap()).await;
@@ -89,16 +89,16 @@ async fn main(low_priority_spawner: Spawner) {
     let mut adc = Adc::new(p.ADC1, &mut Delay);
     adc.set_sample_time(embassy_stm32::adc::SampleTime::Cycles239_5);
 
-    low_priority_spawner
-        .spawn(strain_gauge::run(
-            address,
-            adc,
-            p.PC0,
-            p.PC1,
-            p.PC2,
-            p.PC3,
-            flight_mode.subscriber().unwrap(),
-            can_out.publisher().unwrap(),
-        ))
-        .unwrap();
+    //low_priority_spawner
+    //    .spawn(strain_gauge::run(
+    //        address,
+    //        adc,
+    //        p.PC0,
+    //        p.PC1,
+    //        p.PC2,
+    //        p.PC3,
+    //        flight_mode.subscriber().unwrap(),
+    //        can_out.publisher().unwrap(),
+    //    ))
+    //    .unwrap();
 }