139 lines
3.8 KiB
Rust
139 lines
3.8 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, Spawner};
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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::multicore::{spawn_core1, Stack};
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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 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 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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bind_interrupts!(struct Irqs {
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ADC_IRQ_FIFO => InterruptHandler;
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});
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const BUF_SIZE: usize = 256;
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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(process_data(spawner))));
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});
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let executor0 = EXECUTOR0.init(Executor::new());
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executor0.run(|spawner| unwrap!(spawner.spawn(read_eeg())));
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}
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#[embassy_executor::task]
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async fn read_eeg() {
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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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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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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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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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// 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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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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// 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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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) => set_servo_position(s.servo_positions()).await,
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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(pos: ServoPosition) {
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use nanorand::{Rng, WyRand};
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let mut rng = WyRand::new();
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info!("Setting position to {}", pos)
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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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return (1. - t) * v0 + t * v1;
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}
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