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d6c6b9aebe
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e057fd368e
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@ -222,7 +222,6 @@ dependencies = [
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"embassy-rp",
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"embassy-sync",
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"embassy-time",
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"embedded-hal-async",
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"nanorand",
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"panic-probe",
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"static_cell",
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@ -19,7 +19,6 @@ embassy-sync = { version = "0.2.0", git = "https://github.com/embassy-rs/embassy
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static_cell = { version = "1.1", features = ["nightly"]}
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nanorand = { version = "0.7.0", default-features = false, features = ["wyrand"] }
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tinyvec = "1.6.0"
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embedded-hal-async = "0.2.0-alpha.2"
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[profile.release]
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lto = "fat"
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83
src/main.rs
83
src/main.rs
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@ -3,29 +3,22 @@
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#![feature(type_alias_impl_trait)]
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use defmt::*;
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use embassy_executor::{Executor, Spawner};
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use embassy_executor::Executor;
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use embassy_rp::adc::{Adc, Config, InterruptHandler, Pin};
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use embassy_rp::bind_interrupts;
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use embassy_rp::gpio::Pull;
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use embassy_rp::i2c::{self, Config as I2Config, InterruptHandler as I2InterruptHandler};
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use embassy_rp::gpio::{Level, Output};
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use embassy_rp::multicore::{spawn_core1, Stack};
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use embassy_rp::peripherals::I2C1;
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use embassy_rp::peripherals::PIN_25;
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use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
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use embassy_sync::{channel::Channel, signal::Signal};
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use embassy_time::Instant;
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use embedded_hal_async::i2c::I2c;
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use embassy_sync::channel::Channel;
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use static_cell::StaticCell;
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use {defmt_rtt as _, panic_probe as _};
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bind_interrupts!(struct I2Crqs {
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I2C1_IRQ => I2InterruptHandler<I2C1>;
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});
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static mut CORE1_STACK: Stack<4096> = Stack::new();
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static EXECUTOR0: StaticCell<Executor> = StaticCell::new();
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static EXECUTOR1: StaticCell<Executor> = StaticCell::new();
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static BUF_CHANNEL: Channel<CriticalSectionRawMutex, (Instant, Buffer), 64> = Channel::new();
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static SERVO_SIG: Signal<CriticalSectionRawMutex, Option<State>> = Signal::new();
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static BUF_CHANNEL: Channel<CriticalSectionRawMutex, Buffer, 256> = Channel::new();
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bind_interrupts!(struct Irqs {
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ADC_IRQ_FIFO => InterruptHandler;
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});
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@ -68,7 +61,7 @@ fn main() -> ! {
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spawn_core1(p.CORE1, unsafe { &mut CORE1_STACK }, move || {
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let executor1 = EXECUTOR1.init(Executor::new());
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executor1.run(|spawner| unwrap!(spawner.spawn(process_data(spawner))));
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executor1.run(|spawner| unwrap!(spawner.spawn(process_data())));
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});
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let executor0 = EXECUTOR0.init(Executor::new());
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@ -81,15 +74,18 @@ async fn read_eeg() {
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let mut adc = Adc::new(p.ADC, Irqs, Config::default());
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let mut eeg = Pin::new(p.PIN_26, Pull::None);
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use nanorand::{Rng, WyRand};
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let mut rng = WyRand::new();
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let mut buf = Buffer([0; BUF_SIZE]);
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let mut count = 0;
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info!("Hello from core 0");
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// Sample EEG data, then append it to buffer
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// When full, send buffer to the channel queue
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// When full, send buffer to be added to the queue
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loop {
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if count >= BUF_SIZE {
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BUF_CHANNEL.send((Instant::now(), buf.clone())).await;
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BUF_CHANNEL.send(buf.clone()).await;
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count = 0;
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} else {
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buf.0[count] = adc.read(&mut eeg).await.unwrap();
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@ -98,63 +94,22 @@ async fn read_eeg() {
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}
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}
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// TODO: async task that goes through queue on timer and merges buffers of similar timestamp
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#[embassy_executor::task]
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async fn process_data(spawner: Spawner) {
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unwrap!(spawner.spawn(servo_control()));
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async fn process_data() {
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loop {
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let (time, mut buffer) = BUF_CHANNEL.recv().await;
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let diff = Instant::now().as_secs() - time.as_secs();
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if diff >= 10 {
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// Test value, if buffer is too old throw out
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break;
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}
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let mut buffer = BUF_CHANNEL.recv().await;
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// Low-pass filter
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// FFT (w/ hanning window)
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info!("Running FFT...");
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SERVO_SIG.signal(None);
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}
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}
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#[embassy_executor::task]
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async fn servo_control() {
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// TODO: make this work
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let p = embassy_rp::init(Default::default());
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let sda = p.PIN_14;
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let scl = p.PIN_15;
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// What the fuck
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// I hate this
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// Fuck you I2C
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info!("set up i2c");
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let mut i2c = i2c::I2c::new_async(p.I2C1, scl, sda, I2Crqs, I2Config::default());
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// Completely guessing at these values
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let addr: u8 = 0x05;
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let val: u16 = 2047;
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// Will this work? Who knows!!
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i2c.write(addr, &[0, val as u8, (val >> 8) as u8])
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.await
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.unwrap();
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use nanorand::{Rng, WyRand};
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let mut rng = WyRand::new();
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loop {
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let state = SERVO_SIG.wait().await;
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// Use a map of positions for each state, and move the servos towards it
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// Use lerp and randomness
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// I2C control board manages servos
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match state {
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Some(s) => {
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info!("moving servos");
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}
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None => warn!("No state given"),
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}
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}
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}
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// async fn set_servo_position(state: State) {
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// // Use a map of positions for each state, and move the servos towards it
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// // Use lerp and randomness
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// // I2C control board manages servos
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// info!("Setting position to {}", state.servo_positions());
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// }
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#[inline]
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fn lerp(v0: f32, v1: f32, t: f32) -> f32 {
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