132 lines
3.5 KiB
Rust
132 lines
3.5 KiB
Rust
#![no_std]
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#![no_main]
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#![feature(type_alias_impl_trait)]
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use defmt::*;
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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::gpio::{Level, Output};
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use embassy_rp::multicore::{spawn_core1, Stack};
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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;
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use static_cell::StaticCell;
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use {defmt_rtt as _, panic_probe as _};
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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 CHANNEL: Channel<CriticalSectionRawMutex, Buffer, 1> = 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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const BUF_SIZE: usize = 64;
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#[derive(Format)]
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enum State {
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Happy,
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Sad,
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Relaxed,
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Surprised,
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}
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// Position in degrees for each servo
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#[derive(Format)]
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struct ServoPosition(f32, f32, f32, f32);
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impl State {
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fn servo_positions(&self) -> ServoPosition {
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// This is where we define the positions and pose for each state
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match self {
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_ => ServoPosition(0.0, 0.0, 0.0, 0.0),
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}
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}
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}
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#[derive(Clone)]
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struct Buffer([u16; BUF_SIZE]);
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impl Default for Buffer {
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fn default() -> Self {
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Buffer([0; BUF_SIZE])
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}
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}
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#[cortex_m_rt::entry]
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fn main() -> ! {
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let p = embassy_rp::init(Default::default());
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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(core1_task())));
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});
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let executor0 = EXECUTOR0.init(Executor::new());
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executor0.run(|spawner| unwrap!(spawner.spawn(core0_task())));
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}
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#[embassy_executor::task]
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async fn core0_task() {
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let p = embassy_rp::init(Default::default());
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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 be added to the queue
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loop {
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if count >= BUF_SIZE {
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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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count += 1;
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}
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}
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}
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#[embassy_executor::task]
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async fn core1_task() {
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use tinyvec::ArrayVec;
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let mut queue = ArrayVec::<[Buffer; 64]>::new();
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info!("Hello from core 1");
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loop {
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// Shouldn't block on waiting for message?
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// Need to test
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queue.push(CHANNEL.recv().await);
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match process_data(&queue[0]).await {
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Some(s) => {
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info!("Parsed '{}' state from EEG data", &s);
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set_servo_position(s).await;
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}
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None => warn!("Unable to match EEG data to state"),
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}
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queue.remove(0);
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}
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}
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async fn process_data(buf: &Buffer) -> Option<State> {
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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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return None;
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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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