Merge branch 'embedded_hal_1_0' into 'main'
Changed to rp2040hal v0.11 and embedded_hal v1.0 See merge request cm/cmdr-joystick!2
This commit is contained in:
commit
6199c80a0a
@ -1,13 +1,9 @@
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#
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# Cargo Configuration for the https://github.com/rp-rs/rp-hal.git repository.
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#
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# Copyright (c) The RP-RS Developers, 2021
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#
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# You might want to make a similar file in your own repository if you are
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# writing programs for Raspberry Silicon microcontrollers.
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#
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# This file is MIT or Apache-2.0 as per the repository README.md file
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#
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[build]
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# Set the default target to match the Cortex-M0+ in the RP2040
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@ -23,13 +19,12 @@ target = "thumbv6m-none-eabi"
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# script. This is usually provided by the cortex-m-rt crate, and by default
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# the version in that crate will include a file called `memory.x` which
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# describes the particular memory layout for your specific chip.
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# * inline-threshold=5 makes the compiler more aggressive and inlining functions
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# * no-vectorize-loops turns off the loop vectorizer (seeing as the M0+ doesn't
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# have SIMD)
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rustflags = [
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"-C", "link-arg=--nmagic",
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"-C", "link-arg=-Tlink.x",
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"-C", "inline-threshold=5",
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"-C", "link-arg=-Tdefmt.x",
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"-C", "no-vectorize-loops",
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]
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@ -39,4 +34,4 @@ runner = "elf2uf2-rs -d"
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# This runner will find a supported SWD debug probe and flash your RP2040 over
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# SWD:
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# runner = "probe-run --chip RP2040"
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# runner = "probe-rs run --chip RP2040"
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@ -1,58 +1,68 @@
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[package]
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name = "rp2040"
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version = "0.1.0"
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edition = "2021"
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version = "0.2.0"
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edition = "2024"
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[dependencies]
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# rp2040_hal dependencies copied from v0.11
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cortex-m = "0.7.2"
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waveshare-rp2040-zero = "0.6.0"
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rp2040-boot2 = { version = "0.2.0", optional = true }
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rp2040-hal = { version = "0.8.0" }
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cortex-m-rt = { version = "0.7", optional = true }
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panic-halt= "0.2.0"
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embedded-hal ="0.2.5"
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log = { version = "0.4", optional = true }
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fugit = "0.3.5"
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nb = "1.0.0"
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smart-leds = "0.3.0"
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smart-leds-trait = "0.2.1"
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ws2812-pio = "0.6.0"
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usbd-human-interface-device = "0.4.2"
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usb-device = "0.2"
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cortex-m-rt = "0.7"
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cortex-m-rtic = "1.1.4"
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critical-section = {version = "1.2.0"}
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defmt = {version = "0.3", optional=true}
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defmt-rtt = "0.4.0"
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dht-sensor = "0.2.1"
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embedded-alloc = "0.5.1"
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embedded-hal = "1.0.0"
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embedded-hal-async = "1.0.0"
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embedded-hal-bus = {version = "0.2.0", features = ["defmt-03"]}
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embedded-io = "0.6.1"
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embedded_hal_0_2 = {package = "embedded-hal", version = "0.2.5", features = ["unproven"]}
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fugit = "0.3.6"
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futures = {version = "0.3.30", default-features = false, features = ["async-await"]}
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hd44780-driver = "0.4.0"
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nb = "1.0"
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panic-halt = "0.2.0"
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panic-probe = {version = "0.3.1", features = ["print-defmt"]}
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pio = "0.2.0"
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defmt = { version = "0.3", optional = true }
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libm = "0.2.7"
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pio-proc = "0.2.0"
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portable-atomic = {version = "1.7.0", features = ["critical-section"]}
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rp2040-boot2 = "0.3.0"
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rp2040-hal = {version = "0.11.0", features = ["binary-info", "critical-section-impl", "rt", "defmt"]}
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static_cell = "2.1.0"
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# USB hid dependencies
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#usbd-human-interface-device = {version = "0.5.1", features = ["defmt"]}
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usbd-human-interface-device = {version = "0.5.1"}
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usb-device = "0.3"
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packed_struct = { version = "0.10", default-features = false }
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heapless = "0.8"
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# Other dependencies
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eeprom24x = "0.7.2"
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ws2812-pio = "0.9.0"
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dyn-smooth = "0.2.0"
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eeprom24x = "0.6.0"
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libm = "0.2.7"
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smart-leds = "0.4.0"
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[features]
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# This is the set of features we enable by default
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default = ["boot2", "rt", "critical-section-impl", "rom-func-cache"]
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# critical section that is safe for multicore use
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critical-section-impl = ["rp2040-hal/critical-section-impl"]
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# 2nd stage bootloaders for rp2040
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boot2 = ["rp2040-boot2"]
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# Minimal startup / runtime for Cortex-M microcontrollers
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rt = ["cortex-m-rt","rp2040-hal/rt"]
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# This enables a fix for USB errata 5: USB device fails to exit RESET state on busy USB bus.
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# Only required for RP2040 B0 and RP2040 B1, but it doesn't hurt to enable it
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rp2040-e5 = ["rp2040-hal/rp2040-e5"]
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# Memoize(cache) ROM function pointers on first use to improve performance
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rom-func-cache = ["rp2040-hal/rom-func-cache"]
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# Disable automatic mapping of language features (like floating point math) to ROM functions
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disable-intrinsics = ["rp2040-hal/disable-intrinsics"]
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# This enables ROM functions for f64 math that were not present in the earliest RP2040s
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rom-v2-intrinsics = ["rp2040-hal/rom-v2-intrinsics"]
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defmt = ["dep:defmt", "usb-device/defmt"]
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# [target.'cfg( target_arch = "arm" )'.dependencies]
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# embassy-executor = {version = "0.5", features = ["arch-cortex-m", "executor-thread"]}
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[lints.clippy]
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too_long_first_doc_paragraph = "allow"
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[profile.release]
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codegen-units = 1
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debug = 2
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debug-assertions = false
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incremental = false
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lto = 'fat'
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opt-level = 3
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overflow-checks = false
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[[bin]]
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name = "rp2040"
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test = false
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@ -6,7 +6,7 @@
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use core::convert::Infallible;
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use cortex_m::delay::Delay;
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use embedded_hal::digital::v2::*;
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use embedded_hal::digital::{InputPin, OutputPin};
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/// Button matrix driver
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///
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@ -15,7 +15,7 @@ use embedded_hal::digital::v2::*;
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/// let button_matrix: ButtonMatrix<4, 6, 48> = ButtonMatrix::new(row_pins, col_pins, 5);
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/// ```
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pub struct ButtonMatrix<'a, const R: usize, const C: usize, const N: usize> {
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rows: &'a [&'a dyn InputPin<Error = Infallible>; R],
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rows: &'a mut [&'a mut dyn InputPin<Error = Infallible>; R],
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cols: &'a mut [&'a mut dyn OutputPin<Error = Infallible>; C],
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pressed: [bool; N],
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debounce: u8,
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@ -31,7 +31,7 @@ impl<'a, const R: usize, const C: usize, const N: usize> ButtonMatrix<'a, R, C,
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/// * `cols` - An array of references to the column pins.
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/// * `debounce` - The debounce time in number of scans.
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pub fn new(
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rows: &'a [&'a dyn InputPin<Error = Infallible>; R],
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rows: &'a mut [&'a mut dyn InputPin<Error = Infallible>; R],
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cols: &'a mut [&'a mut dyn OutputPin<Error = Infallible>; C],
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debounce: u8,
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) -> Self {
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@ -72,35 +72,38 @@ use core::convert::Infallible;
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use cortex_m::delay::Delay;
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use dyn_smooth::{DynamicSmootherEcoI32, I32_FRAC_BITS};
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use eeprom24x::{Eeprom24x, SlaveAddr};
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use embedded_hal::adc::OneShot;
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use embedded_hal::digital::v2::*;
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use embedded_hal::timer::CountDown;
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use embedded_hal::digital::{InputPin, OutputPin};
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use embedded_hal_0_2::adc::OneShot;
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use embedded_hal_0_2::timer::CountDown;
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use fugit::{ExtU32, RateExtU32};
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use libm::powf;
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use panic_halt as _;
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use rp2040_hal::{
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Sio,
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adc::Adc,
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gpio::{Function, FunctionConfig, PinId, ValidPinMode},
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adc::AdcPin,
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clocks::{Clock, init_clocks_and_plls},
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gpio::{AnyPin, Pins},
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i2c::I2C,
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pio::StateMachineIndex,
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pac,
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pio::{PIOExt, StateMachineIndex},
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timer::Timer,
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watchdog::Watchdog,
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};
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use status_led::{StatusMode, Ws2812StatusLed};
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use usb_device::class_prelude::*;
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use usb_device::prelude::*;
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use usb_joystick_device::{JoystickConfig, JoystickReport};
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use usbd_human_interface_device::prelude::*;
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use waveshare_rp2040_zero::entry;
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use waveshare_rp2040_zero::{
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hal::{
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clocks::{init_clocks_and_plls, Clock},
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pac,
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pio::PIOExt,
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timer::Timer,
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watchdog::Watchdog,
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Sio,
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},
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Pins, XOSC_CRYSTAL_FREQ,
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};
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// The linker will place this boot block at the start of our program image. We
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/// need this to help the ROM bootloader get our code up and running.
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#[unsafe(link_section = ".boot2")]
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#[unsafe(no_mangle)]
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#[used]
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pub static BOOT2_FIRMWARE: [u8; 256] = rp2040_boot2::BOOT_LOADER_W25Q080;
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|
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const XTAL_FREQ_HZ: u32 = 12_000_000u32;
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|
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// Public constants
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pub const BUTTON_ROWS: usize = 5;
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@ -177,7 +180,7 @@ impl Default for GimbalAxis {
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}
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}
|
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|
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#[entry]
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#[rp2040_hal::entry]
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fn main() -> ! {
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// Grab our singleton objects
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let mut pac = pac::Peripherals::take().unwrap();
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@ -187,7 +190,7 @@ fn main() -> ! {
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|
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// Configure clocks and PLLs
|
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let clocks = init_clocks_and_plls(
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XOSC_CRYSTAL_FREQ,
|
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XTAL_FREQ_HZ,
|
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pac.XOSC,
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pac.CLOCKS,
|
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pac.PLL_SYS,
|
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@ -213,8 +216,8 @@ fn main() -> ! {
|
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|
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let i2c = I2C::i2c1(
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pac.I2C1,
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pins.gp14.into_mode(), // sda
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pins.gp15.into_mode(), // scl
|
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pins.gpio14.reconfigure(), // sda
|
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pins.gpio15.reconfigure(), // scl
|
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400.kHz(),
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&mut pac.RESETS,
|
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125_000_000.Hz(),
|
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@ -229,27 +232,27 @@ fn main() -> ! {
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// Configure ADC input pins
|
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// Have not figured out hov to store the adc pins in an array yet
|
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// TODO: Find a way to store adc pins in an array
|
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let mut adc_pin_left_x = pins.gp29.into_floating_input();
|
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let mut adc_pin_left_y = pins.gp28.into_floating_input();
|
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let mut adc_pin_right_x = pins.gp27.into_floating_input();
|
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let mut adc_pin_right_y = pins.gp26.into_floating_input();
|
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let mut adc_pin_left_x = AdcPin::new(pins.gpio29.into_floating_input()).unwrap();
|
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let mut adc_pin_left_y = AdcPin::new(pins.gpio28.into_floating_input()).unwrap();
|
||||
let mut adc_pin_right_x = AdcPin::new(pins.gpio27.into_floating_input()).unwrap();
|
||||
let mut adc_pin_right_y = AdcPin::new(pins.gpio26.into_floating_input()).unwrap();
|
||||
|
||||
// Setting up array with pins connected to button rows
|
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let button_matrix_row_pins: &[&dyn InputPin<Error = Infallible>; BUTTON_ROWS] = &[
|
||||
&pins.gp6.into_pull_up_input(),
|
||||
&pins.gp8.into_pull_up_input(),
|
||||
&pins.gp4.into_pull_up_input(),
|
||||
&pins.gp7.into_pull_up_input(),
|
||||
&pins.gp5.into_pull_up_input(),
|
||||
let button_matrix_row_pins: &mut [&mut dyn InputPin<Error = Infallible>; BUTTON_ROWS] = &mut [
|
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&mut pins.gpio6.into_pull_up_input(),
|
||||
&mut pins.gpio8.into_pull_up_input(),
|
||||
&mut pins.gpio4.into_pull_up_input(),
|
||||
&mut pins.gpio7.into_pull_up_input(),
|
||||
&mut pins.gpio5.into_pull_up_input(),
|
||||
];
|
||||
|
||||
// Setting up array with pins connected to button columns
|
||||
let button_matrix_col_pins: &mut [&mut dyn OutputPin<Error = Infallible>; BUTTON_COLS] = &mut [
|
||||
&mut pins.gp9.into_push_pull_output(),
|
||||
&mut pins.gp10.into_push_pull_output(),
|
||||
&mut pins.gp11.into_push_pull_output(),
|
||||
&mut pins.gp12.into_push_pull_output(),
|
||||
&mut pins.gp13.into_push_pull_output(),
|
||||
&mut pins.gpio9.into_push_pull_output(),
|
||||
&mut pins.gpio10.into_push_pull_output(),
|
||||
&mut pins.gpio11.into_push_pull_output(),
|
||||
&mut pins.gpio12.into_push_pull_output(),
|
||||
&mut pins.gpio13.into_push_pull_output(),
|
||||
];
|
||||
|
||||
// Create button matrix object that scans all buttons
|
||||
@ -260,13 +263,13 @@ fn main() -> ! {
|
||||
button_matrix.init_pins();
|
||||
|
||||
// Setup extra buttons (connected to TX/RX pins)
|
||||
let left_extra_button = pins.gp1.into_pull_up_input();
|
||||
let right_extra_button = pins.gp0.into_pull_up_input();
|
||||
let mut left_extra_button = pins.gpio1.into_pull_up_input();
|
||||
let mut right_extra_button = pins.gpio0.into_pull_up_input();
|
||||
|
||||
// Create status LED
|
||||
let (mut pio, sm0, _, _, _) = pac.PIO0.split(&mut pac.RESETS);
|
||||
let mut status_led = Ws2812StatusLed::new(
|
||||
pins.neopixel.into_mode(),
|
||||
pins.gpio16.into_function(),
|
||||
&mut pio,
|
||||
sm0,
|
||||
clocks.peripheral_clock.freq(),
|
||||
@ -290,7 +293,7 @@ fn main() -> ! {
|
||||
}
|
||||
|
||||
// Create timers
|
||||
let timer = Timer::new(pac.TIMER, &mut pac.RESETS);
|
||||
let timer = Timer::new(pac.TIMER, &mut pac.RESETS, &clocks);
|
||||
|
||||
let mut status_led_count_down = timer.count_down();
|
||||
status_led_count_down.start(250.millis());
|
||||
@ -393,7 +396,7 @@ fn main() -> ! {
|
||||
];
|
||||
|
||||
// Configure USB
|
||||
let usb_bus = UsbBusAllocator::new(waveshare_rp2040_zero::hal::usb::UsbBus::new(
|
||||
let usb_bus = UsbBusAllocator::new(rp2040_hal::usb::UsbBus::new(
|
||||
pac.USBCTRL_REGS,
|
||||
pac.USBCTRL_DPRAM,
|
||||
clocks.usb_clock,
|
||||
@ -406,9 +409,11 @@ fn main() -> ! {
|
||||
.build(&usb_bus);
|
||||
|
||||
let mut usb_dev = UsbDeviceBuilder::new(&usb_bus, UsbVidPid(0x1209, 0x0002))
|
||||
.manufacturer("CMtec")
|
||||
.product("CMDR Joystick 25")
|
||||
.serial_number("0001")
|
||||
.strings(&[StringDescriptors::default()
|
||||
.manufacturer("CMtec")
|
||||
.product("CMDR Joystick 25")
|
||||
.serial_number("0001")])
|
||||
.unwrap()
|
||||
.build();
|
||||
|
||||
// Read calibration data from eeprom
|
||||
@ -678,9 +683,8 @@ fn update_status_led<P, SM, I>(
|
||||
calibration_active: &bool,
|
||||
throttle_hold_enable: &bool,
|
||||
) where
|
||||
P: PIOExt + FunctionConfig,
|
||||
I: PinId,
|
||||
Function<P>: ValidPinMode<I>,
|
||||
I: AnyPin<Function = P::PinFunction>,
|
||||
P: PIOExt,
|
||||
SM: StateMachineIndex,
|
||||
{
|
||||
if *calibration_active {
|
||||
|
||||
@ -5,10 +5,10 @@
|
||||
//! License: Please refer to LICENSE in root directory
|
||||
|
||||
use rp2040_hal::{
|
||||
gpio::{Function, FunctionConfig, Pin, PinId, ValidPinMode},
|
||||
pio::{PIOExt, StateMachineIndex, UninitStateMachine, PIO},
|
||||
gpio::AnyPin,
|
||||
pio::{PIO, PIOExt, StateMachineIndex, UninitStateMachine},
|
||||
};
|
||||
use smart_leds::{SmartLedsWrite, RGB8};
|
||||
use smart_leds::{RGB8, SmartLedsWrite};
|
||||
use ws2812_pio::Ws2812Direct;
|
||||
|
||||
/// Status LED modes
|
||||
@ -35,8 +35,6 @@ pub enum StatusMode {
|
||||
Bootloader = 9,
|
||||
}
|
||||
#[warn(dead_code)]
|
||||
|
||||
/// Status LED driver
|
||||
/// This driver uses the PIO state machine to drive a WS2812 LED
|
||||
///
|
||||
/// # Example
|
||||
@ -51,9 +49,8 @@ pub enum StatusMode {
|
||||
/// ```
|
||||
pub struct Ws2812StatusLed<P, SM, I>
|
||||
where
|
||||
I: PinId,
|
||||
P: PIOExt + FunctionConfig,
|
||||
Function<P>: ValidPinMode<I>,
|
||||
I: AnyPin<Function = P::PinFunction>,
|
||||
P: PIOExt,
|
||||
SM: StateMachineIndex,
|
||||
{
|
||||
ws2812_direct: Ws2812Direct<P, SM, I>,
|
||||
@ -63,9 +60,8 @@ where
|
||||
|
||||
impl<P, SM, I> Ws2812StatusLed<P, SM, I>
|
||||
where
|
||||
I: PinId,
|
||||
P: PIOExt + FunctionConfig,
|
||||
Function<P>: ValidPinMode<I>,
|
||||
I: AnyPin<Function = P::PinFunction>,
|
||||
P: PIOExt,
|
||||
SM: StateMachineIndex,
|
||||
{
|
||||
/// Creates a new instance of this driver.
|
||||
@ -77,7 +73,7 @@ where
|
||||
/// * `sm` - PIO state machine
|
||||
/// * `clock_freq` - PIO clock frequency
|
||||
pub fn new(
|
||||
pin: Pin<I, Function<P>>,
|
||||
pin: I,
|
||||
pio: &mut PIO<P>,
|
||||
sm: UninitStateMachine<(P, SM)>,
|
||||
clock_freq: fugit::HertzU32,
|
||||
@ -99,7 +95,6 @@ where
|
||||
self.mode
|
||||
}
|
||||
#[warn(dead_code)]
|
||||
|
||||
/// Update status LED
|
||||
/// Depending on the mode, the LED will be set to a different colour
|
||||
///
|
||||
|
||||
@ -6,11 +6,11 @@
|
||||
|
||||
use core::default::Default;
|
||||
use fugit::ExtU32;
|
||||
// use packed_struct::prelude::*;
|
||||
use usb_device::bus::UsbBus;
|
||||
use usb_device::class_prelude::UsbBusAllocator;
|
||||
use usbd_human_interface_device::usb_class::prelude::*;
|
||||
|
||||
// Fetched from https://github.com/embassy-rs/embassy/blob/e3efda2249640e0b4881289aa609c96a26a7479a/embassy-hal-common/src/fmt.rs
|
||||
#[cfg(feature = "defmt")]
|
||||
macro_rules! unwrap {
|
||||
($($x:tt)*) => {
|
||||
@ -68,7 +68,7 @@ impl<T, E> Try for Result<T, E> {
|
||||
}
|
||||
|
||||
// Based on example device from https://github.com/dlkj/usbd-human-interface-device/blob/main/src/device/joystick.rs
|
||||
// Updated to 6x 12bit axis, 25x buttons and 4x hat switches
|
||||
// Updated to 6x 12bit axis, 32x buttons and 4x hat switches
|
||||
#[rustfmt::skip]
|
||||
pub const JOYSTICK_DESCRIPTOR: &[u8] = &[
|
||||
0x05, 0x01, // Usage Page (Generic Desktop)
|
||||
@ -131,12 +131,11 @@ pub struct Joystick<'a, B: UsbBus> {
|
||||
interface: Interface<'a, B, InBytes16, OutNone, ReportSingle>,
|
||||
}
|
||||
|
||||
impl<'a, B: UsbBus> Joystick<'a, B> {
|
||||
impl<B: UsbBus> Joystick<'_, B> {
|
||||
pub fn write_report(&mut self, report: &JoystickReport) -> Result<(), UsbHidError> {
|
||||
let mut data: [u8; 15] = [0; 15];
|
||||
|
||||
// Did not make the packed struct work, so doing it manually
|
||||
// TODO: make this work with packed struct
|
||||
data[0] = report.x as u8;
|
||||
data[1] = ((report.x >> 8) as u8) | ((report.y << 4) as u8);
|
||||
data[2] = (report.y >> 4) as u8;
|
||||
@ -178,14 +177,16 @@ pub struct JoystickConfig<'a> {
|
||||
interface: InterfaceConfig<'a, InBytes16, OutNone, ReportSingle>,
|
||||
}
|
||||
|
||||
impl<'a> Default for JoystickConfig<'a> {
|
||||
impl Default for JoystickConfig<'_> {
|
||||
#[must_use]
|
||||
fn default() -> Self {
|
||||
Self::new(
|
||||
unwrap!(unwrap!(InterfaceBuilder::new(JOYSTICK_DESCRIPTOR))
|
||||
.boot_device(InterfaceProtocol::None)
|
||||
.description("Joystick")
|
||||
.in_endpoint(10.millis()))
|
||||
unwrap!(
|
||||
unwrap!(InterfaceBuilder::new(JOYSTICK_DESCRIPTOR))
|
||||
.boot_device(InterfaceProtocol::None)
|
||||
.description("Joystick")
|
||||
.in_endpoint(10.millis())
|
||||
)
|
||||
.without_out_endpoint()
|
||||
.build(),
|
||||
)
|
||||
|
||||
Loading…
x
Reference in New Issue
Block a user