A320-homecockpit/Pedestal/firmware/src/main.rs

#![deny(unsafe_code)]
#![no_main]
#![no_std]

mod device;

use panic_halt as _;

use cortex_m::asm::delay;
use cortex_m_rt::entry;
use stm32f1xx_hal::{
	adc,
	gpio::{Analog, Pin},
	pac,
	prelude::*,
	timer::{Channel, Tim2NoRemap},
};

use stm32f1xx_hal::usb::{Peripheral, UsbBus};
use usb_device::prelude::*;
use usbd_human_interface_device::prelude::*;

use crate::device::{CustomConfig, CustomInputReport, CustomOutputReport};
use core::cell::OnceCell;

struct MyPins {
	pa1: Pin<'A', 1, Analog>,
	pa2: Pin<'A', 2, Analog>,
}

struct CalibrationData {
	min: u16,
	max: u16,
	factor: OnceCell<f32>,
}

struct Calibration {
	integ_lt: CalibrationData,
	flood_lt: CalibrationData,
}


#[entry]
fn main() -> ! {
	// ====================== general setup =================
	// Acquire peripherals
	//	let cp = cortex_m::Peripherals::take().unwrap();
	let p = pac::Peripherals::take().unwrap();
	let mut flash = p.FLASH.constrain();
	let rcc = p.RCC.constrain();

	// Setup GPIOA
	let mut gpioa = p.GPIOA.split();

	// configure clock
	let clocks = rcc
		.cfgr
		.use_hse(16.MHz())
		.sysclk(48.MHz())
		.pclk1(24.MHz())
		.freeze(&mut flash.acr);

	// ====================== USB setup =================
	assert!(clocks.usbclk_valid());
	let mut usb_dp = gpioa.pa12.into_push_pull_output(&mut gpioa.crh);
	usb_dp.set_low();
	delay(clocks.sysclk().raw() / 100);

	let usb = Peripheral {
		usb: p.USB,
		pin_dm: gpioa.pa11,
		pin_dp: usb_dp.into_floating_input(&mut gpioa.crh),
	};
	let usb_bus = UsbBus::new(usb);

	let mut consumer = UsbHidClassBuilder::new()
		.add_device(CustomConfig::default())
		.build(&usb_bus);

	let mut usb_dev = UsbDeviceBuilder::new(&usb_bus, UsbVidPid(0x16c0, 0x27dd))
		.manufacturer("FLC Meow")
		.product("Pedestal box")
		.serial_number("01189998819991197253")
		.build();

	// ====================== ADC setup =================
	// Setup ADC
	let mut adc1 = adc::Adc::adc1(p.ADC1, clocks);

	// ====================== Calibration ===============
	let cal = Calibration {
		integ_lt: CalibrationData {min: 100, max: 4000, factor: OnceCell::new()},
		flood_lt: CalibrationData {min: 0, max: 0, factor: OnceCell::new()},
	};

	// ====================== Pin setup =================
	let mut input_pins = MyPins {
		pa1: gpioa.pa1.into_analog(&mut gpioa.crl),
		pa2: gpioa.pa2.into_analog(&mut gpioa.crl),
	};

	let mut last = get_report(&mut input_pins, &mut adc1, &cal);

	// ====================== PWM setup =================
	let mut afio = p.AFIO.constrain();
	let c1 = gpioa.pa0.into_alternate_push_pull(&mut gpioa.crl);
	let mut pwm = p
		.TIM2
		.pwm_hz::<Tim2NoRemap, _, _>(c1, &mut afio.mapr, 1.kHz(), &clocks);
	pwm.enable(Channel::C1);
	let pwm_max = pwm.get_max_duty() as u16; //48000 in our case

	// ====================== Main loop =================
	loop {
		let report = get_report(&mut input_pins, &mut adc1, &cal);
		if report != last {
			match consumer.device().write_report(&report) {
				Err(UsbHidError::WouldBlock) => {}
				Ok(_) => {
					last = report;
				}
				Err(e) => {
					core::panic!("Failed to write consumer report: {:?}", e)
				}
			}
		}

		if usb_dev.poll(&mut [&mut consumer]) {
			match consumer.device().read_report() {
				Err(UsbHidError::WouldBlock) => {}
				Ok(output) => {
					let pwm_val: u16;
					if output.integ_lt > pwm_max {
						pwm_val = pwm_max;
					}
					else {
						pwm_val = output.integ_lt;
					}
					pwm.set_duty(Channel::C1, pwm_val);
				}
				Err(e) => {
					core::panic!("Failed to write consumer report: {:?}", e)
				}
			}
		}

	}
}

// Returns a CustomInputReport from the inputs given
fn get_report(pins: &mut MyPins, adc1: &mut adc::Adc<pac::ADC1>, cal: &Calibration) -> CustomInputReport {
	let integ_lt: u16 = adc1.read(&mut pins.pa1).unwrap();
	let flood_lt: u16 = adc1.read(&mut pins.pa2).unwrap();
	let buttons: u16 = 0;

	let integ_lt_norm: u16;
	if integ_lt < cal.integ_lt.min {
		integ_lt_norm = 0;
	}
	else if integ_lt > cal.integ_lt.max {
		integ_lt_norm = 4095;
	}
	else {
		let factor: f32 = *cal.integ_lt.factor.get_or_init(|| cal.integ_lt.get_scale_factor());
		integ_lt_norm = ((integ_lt - cal.integ_lt.min) as f32 * factor) as u16;
	}

	CustomInputReport {
		x: integ_lt_norm.into(),
		y: flood_lt.into(),
		buttons,
	}
}

impl CalibrationData {
	const ADC_MAX: u16 = 4095;
	fn get_scale_factor (&self) -> f32 {
		return (Self::ADC_MAX / (Self::ADC_MAX - self.min - (Self::ADC_MAX - self.max))) as f32;
	}
}