118 lines
3.1 KiB
Rust
118 lines
3.1 KiB
Rust
#![no_std]
|
|
#![no_main]
|
|
#![feature(type_alias_impl_trait)]
|
|
|
|
use defmt::*;
|
|
use embassy_executor::Executor;
|
|
use embassy_rp::adc::{Adc, Config, InterruptHandler, Pin};
|
|
use embassy_rp::bind_interrupts;
|
|
use embassy_rp::gpio::Pull;
|
|
use embassy_rp::gpio::{Level, Output};
|
|
use embassy_rp::multicore::{spawn_core1, Stack};
|
|
use embassy_rp::peripherals::PIN_25;
|
|
use embassy_sync::blocking_mutex::raw::CriticalSectionRawMutex;
|
|
use embassy_sync::channel::Channel;
|
|
use static_cell::StaticCell;
|
|
use {defmt_rtt as _, panic_probe as _};
|
|
|
|
static mut CORE1_STACK: Stack<4096> = Stack::new();
|
|
static EXECUTOR0: StaticCell<Executor> = StaticCell::new();
|
|
static EXECUTOR1: StaticCell<Executor> = StaticCell::new();
|
|
static BUF_CHANNEL: Channel<CriticalSectionRawMutex, Buffer, 256> = Channel::new();
|
|
bind_interrupts!(struct Irqs {
|
|
ADC_IRQ_FIFO => InterruptHandler;
|
|
});
|
|
|
|
const BUF_SIZE: usize = 256;
|
|
|
|
#[derive(Format)]
|
|
enum State {
|
|
Happy,
|
|
Sad,
|
|
Relaxed,
|
|
Surprised,
|
|
}
|
|
|
|
// Position in degrees for each servo
|
|
#[derive(Format)]
|
|
struct ServoPosition(f32, f32, f32, f32);
|
|
|
|
impl State {
|
|
fn servo_positions(&self) -> ServoPosition {
|
|
// This is where we define the positions and pose for each state
|
|
match self {
|
|
_ => ServoPosition(0.0, 0.0, 0.0, 0.0),
|
|
}
|
|
}
|
|
}
|
|
|
|
#[derive(Clone)]
|
|
struct Buffer([u16; BUF_SIZE]);
|
|
|
|
impl Default for Buffer {
|
|
fn default() -> Self {
|
|
Buffer([0; BUF_SIZE])
|
|
}
|
|
}
|
|
|
|
#[cortex_m_rt::entry]
|
|
fn main() -> ! {
|
|
let p = embassy_rp::init(Default::default());
|
|
|
|
spawn_core1(p.CORE1, unsafe { &mut CORE1_STACK }, move || {
|
|
let executor1 = EXECUTOR1.init(Executor::new());
|
|
executor1.run(|spawner| unwrap!(spawner.spawn(process_data())));
|
|
});
|
|
|
|
let executor0 = EXECUTOR0.init(Executor::new());
|
|
executor0.run(|spawner| unwrap!(spawner.spawn(read_eeg())));
|
|
}
|
|
|
|
#[embassy_executor::task]
|
|
async fn read_eeg() {
|
|
let p = embassy_rp::init(Default::default());
|
|
let mut adc = Adc::new(p.ADC, Irqs, Config::default());
|
|
let mut eeg = Pin::new(p.PIN_26, Pull::None);
|
|
|
|
use nanorand::{Rng, WyRand};
|
|
let mut rng = WyRand::new();
|
|
|
|
let mut buf = Buffer([0; BUF_SIZE]);
|
|
let mut count = 0;
|
|
|
|
info!("Hello from core 0");
|
|
// Sample EEG data, then append it to buffer
|
|
// When full, send buffer to be added to the queue
|
|
loop {
|
|
if count >= BUF_SIZE {
|
|
BUF_CHANNEL.send(buf.clone()).await;
|
|
count = 0;
|
|
} else {
|
|
buf.0[count] = adc.read(&mut eeg).await.unwrap();
|
|
count += 1;
|
|
}
|
|
}
|
|
}
|
|
|
|
#[embassy_executor::task]
|
|
async fn process_data() {
|
|
loop {
|
|
let mut buffer = BUF_CHANNEL.recv().await;
|
|
// Low-pass filter
|
|
// FFT (w/ hanning window)
|
|
info!("Running FFT...");
|
|
}
|
|
}
|
|
|
|
// async fn set_servo_position(state: State) {
|
|
// // Use a map of positions for each state, and move the servos towards it
|
|
// // Use lerp and randomness
|
|
// // I2C control board manages servos
|
|
// info!("Setting position to {}", state.servo_positions());
|
|
// }
|
|
|
|
#[inline]
|
|
fn lerp(v0: f32, v1: f32, t: f32) -> f32 {
|
|
return (1. - t) * v0 + t * v1;
|
|
}
|