Add status led pins for each channel and USART3 for input

firmware/src/encoder.rs

@@ -26,7 +26,8 @@ pub struct Encoder<CHA: InputPin, CHB: InputPin> {
     channel_a: CHA,
     channel_b: CHB,
     _prev_val: i16,
-    position: i16
+    position: i16,
+    max: i16
 }
 
 use void::Void;
@@ -47,7 +48,8 @@ impl<CHA: InputPin<Error = Void>, CHB: InputPin<Error = Void>> Encoder<CHA, CHB>
             _prev_val: 0,
             channel_a: ch_a,
             channel_b: ch_b,
-            position: 0
+            position: 0,
+            max: 0
         }
     }
 
@@ -56,6 +58,7 @@ impl<CHA: InputPin<Error = Void>, CHB: InputPin<Error = Void>> Encoder<CHA, CHB>
         self.ready = false;
         self.start = 0;
         self._prev_val = 0;
+        self.max = 0;
     }
 
     pub fn update(&mut self, channel: &Channel, timestamp: u32) {
@@ -102,9 +105,15 @@ impl<CHA: InputPin<Error = Void>, CHB: InputPin<Error = Void>> Encoder<CHA, CHB>
             self._prev_val = position;
         }
 
-        if self.start != 0 && position == 0 {
-            self.ready = true;
+        if position > self.max {
+            self.max = position;
         }
+
+        // if self.max > 10 {
+            if self.start != 0 && position == 0 {
+                self.ready = true;
+            }
+        // }
     }
 
     pub fn ready(&mut self) -> bool { self.ready }

firmware/src/main.rs

@@ -21,7 +21,7 @@ use stm32f1xx_hal::{
     gpio::*, // gpio hal implementation for stm32f1xx
     timer,
     serial::{Config, Serial},
-    pac::{self, interrupt, EXTI, USART2} // peripheral access crate (register access)
+    pac::{self, interrupt, EXTI, USART2, USART3} // peripheral access crate (register access)
 };
 
 extern crate embedded_hal;
@@ -54,6 +54,20 @@ impl fmt::Write for FormatTx {
 }
 
 
+struct FormatTx3 {
+    tx :  stm32f1xx_hal::serial::Tx<USART3>,
+}
+
+impl fmt::Write for FormatTx3 {
+    fn write_str(&mut self, s: &str) -> core::fmt::Result {
+        s.as_bytes()
+            .iter()
+            .try_for_each(|c| nb::block!(self.tx.write(*c)))
+            .map_err(|_| core::fmt::Error)
+    }
+}
+
+
 // Make external interrupt registers globally available
 static INT: Mutex<RefCell<Option<EXTI>>> = Mutex::new(RefCell::new(None));
 
@@ -151,15 +165,15 @@ fn main() -> ! {
         w.exti7().bits(0b0000)   //PA7 3A
     });
     afio.exticr3.exticr3().modify(|_,w| unsafe {
-        w.exti8().bits(0b0000);  //PA8 4A
-        w.exti9().bits(0b0000);  //PA9 5A
-        w.exti10().bits(0b0000); //PA10 1B
-        w.exti11().bits(0b0000)  //PA11 2B
+        w.exti8().bits(0b0000);  //PA8 5A
+        w.exti9().bits(0b0000);  //PA9 4A
+        w.exti10().bits(0b0000); //PA10 4B
+        w.exti11().bits(0b0000)  //PA11 3B
     });
      afio.exticr4.exticr4().modify(|_,w| unsafe {
-        w.exti12().bits(0b0000); //PA12 3B
-        w.exti15().bits(0b0001); //PB15 4B
-        w.exti13().bits(0b0010)  //PC13 5B
+        w.exti12().bits(0b0000); //PA12 2B
+        w.exti15().bits(0b0001); //PB15 5B
+        w.exti13().bits(0b0010)  //PC13 1B
     });
 
 
@@ -236,6 +250,12 @@ fn main() -> ! {
         &mut rcc.apb1,
     );
 
+
+
+
+
+
+
     // Move control over LED and DELAY and EXTI into global mutexes
     cortex_m::interrupt::free(|cs| {
         *LED.borrow(cs).borrow_mut() = Some(led);
@@ -259,6 +279,24 @@ fn main() -> ! {
     };
     writeln!(tx, "let's start! {}!", 12).unwrap();
 
+    let uart3_tx = gpiob.pb10.into_alternate_push_pull(&mut gpiob.crh);
+    let uart3_rx = gpiob.pb11;
+
+    let serial_in = Serial::usart3(
+        dp.USART3,
+        (uart3_tx, uart3_rx),
+        &mut afio.mapr,
+        Config::default().baudrate(115200.bps()),
+        clocks,
+        &mut rcc.apb1,
+    );
+
+    let (in_tx, mut in_rx) = serial_in.split();
+
+    let mut in_tx = FormatTx3 {
+        tx: in_tx
+    };
+    writeln!(in_tx, "Serial Input side!").unwrap();
 
     unsafe {
         pac::NVIC::unmask(pac::Interrupt::TIM1_UP);
@@ -268,14 +306,90 @@ fn main() -> ! {
         nvic.set_priority(pac::Interrupt::EXTI9_5, 32); // prio 1
     }
 
+
+    let mut ch1_led = gpiob.pb8.into_push_pull_output(&mut gpiob.crh);
+    let mut ch2_led = gpioa.pa4.into_push_pull_output(&mut gpioa.crl);
+    let mut ch3_led = gpiob.pb0.into_push_pull_output(&mut gpiob.crl);
+    let mut ch4_led = gpiob.pb1.into_push_pull_output(&mut gpiob.crl);
+    let mut ch5_led = gpiob.pb14.into_push_pull_output(&mut gpiob.crh);
+
+    ch1_led.set_high().unwrap();
+    ch2_led.set_high().unwrap();
+    ch3_led.set_high().unwrap();
+    ch4_led.set_high().unwrap();
+    ch5_led.set_high().unwrap();
+
+
     loop {
 
+        // writeln!(in_tx, "Wait for input..").unwrap();
+
+        // let received = block!(in_rx.read()).unwrap();
+        // writeln!(in_tx, "Got: {}", received).unwrap();
+
         block!(timer.wait()).unwrap();
 
         cortex_m::interrupt::free(|cs| {
             if let Some(ref mut encoder) = ENCODER1.borrow(cs).borrow_mut().deref_mut() {
                 if encoder.ready() {
                     let data = encoder.get();
+                    writeln!(tx, "Encoder 1").unwrap();
+                    for x in data {
+                        unsafe {
+                            writeln!(tx, "{}: {}", x.time, x.pos).unwrap();
+                        }
+                    }
+                    encoder.reset();
+
+                }
+            }
+
+            if let Some(ref mut encoder) = ENCODER2.borrow(cs).borrow_mut().deref_mut() {
+                if encoder.ready() {
+                    let data = encoder.get();
+                    writeln!(tx, "Encoder 2").unwrap();
+                    for x in data {
+                        unsafe {
+                            writeln!(tx, "{}: {}", x.time, x.pos).unwrap();
+                        }
+                    }
+                    encoder.reset();
+
+                }
+            }
+
+            if let Some(ref mut encoder) = ENCODER3.borrow(cs).borrow_mut().deref_mut() {
+                if encoder.ready() {
+                    let data = encoder.get();
+                    writeln!(tx, "Encoder 3").unwrap();
+                    for x in data {
+                        unsafe {
+                            writeln!(tx, "{}: {}", x.time, x.pos).unwrap();
+                        }
+                    }
+                    encoder.reset();
+
+                }
+            }
+
+            if let Some(ref mut encoder) = ENCODER4.borrow(cs).borrow_mut().deref_mut() {
+                if encoder.ready() {
+                    let data = encoder.get();
+                    writeln!(tx, "Encoder 4").unwrap();
+                    for x in data {
+                        unsafe {
+                            writeln!(tx, "{}: {}", x.time, x.pos).unwrap();
+                        }
+                    }
+                    encoder.reset();
+
+                }
+            }
+
+            if let Some(ref mut encoder) = ENCODER5.borrow(cs).borrow_mut().deref_mut() {
+                if encoder.ready() {
+                    let data = encoder.get();
+                    writeln!(tx, "Encoder 5").unwrap();
                     for x in data {
                         unsafe {
                             writeln!(tx, "{}: {}", x.time, x.pos).unwrap();
@@ -291,6 +405,9 @@ fn main() -> ! {
     }
 }
 
+// fn poll_encoder() {
+
+// }
 
 
 

firmware/tools/bmp.gdb

@@ -3,6 +3,7 @@
 target extended-remote /dev/cu.usbmodemC1CC90EE1
 #target extended-remote /dev/cu.usbmodemC1DDCDF81
 
+
 monitor swdp_scan
 attach 1
 monitor traceswo