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Cargo.toml
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[workspace]
resolver = "2"
members = [
"canome"
]

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# GNU LESSER GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc.
<https://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies of this
license document, but changing it is not allowed.
This version of the GNU Lesser General Public License incorporates the
terms and conditions of version 3 of the GNU General Public License,
supplemented by the additional permissions listed below.
## 0. Additional Definitions.
As used herein, "this License" refers to version 3 of the GNU Lesser
General Public License, and the "GNU GPL" refers to version 3 of the
GNU General Public License.
"The Library" refers to a covered work governed by this License, other
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## 1. Exception to Section 3 of the GNU GPL.
You may convey a covered work under sections 3 and 4 of this License
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## 2. Conveying Modified Versions.
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## 5. Combined Libraries.
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## 6. Revised Versions of the GNU Lesser General Public License.
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CANome is a library that assists you in writing your own CAN based, fully distributed, smart home system.
A bus system provides many benefits over other system. Some of them are listed below:
- **Energy Efficiency:** Each device only needs to implement the fairly lightweight CAN stack. The bus cable can also transport the required power for the nodes, reducing the numbers of AC-DC-adapters.
- **Reliability:** A distributed system can handle the loss of nodes without impacting the complete system. Additionally, a wired channel is typically more reliable than a wireless one.
- **Security:** Embedded security is hard, using a bus doesn't make your application more secure, but you have a greatly reduced attack surface: An attacker needs physical access to your bus to even start to communicate with a node.
Many other smart home projects use a meta-configuration-language to configure the firmware on each device.
A distributed system requires more logic on the nodes than a centralized one.
A meta-configuration-language will always have missing features that are a core component of a regular programming language, like rust.
This project helps you in creating a distributed smart home system in rust by providing a library with the building blocks.
You express the entire node logic as regular embedded rust code using this library to avoid writing extensive repeating code.
# Protocol
This project uses a very simple protocol that is based on CAN.
Each node can expose states.
A state is a Rust type that can be encoded/decoded from a CAN frame.
The format of a frame is implicitly transmitted by the CAN message identifier.
When a state changes, the node broadcasts the new state on the bus.
Other nodes can "subscribe" to a CAN message identifier.
They always store a copy of the state that is automatically updated when a new message with that CAN message identifier arrives.
Additionally, a node can use a CAN remote frame to fetch the state from the source node.
# Contributing
I'm happy about any contribution in any form.
Feel free to submit feature requests and bug reports using a GitHub Issue.
PR's are also appreciated.
# License
The Sourcecode in this Library is licensed under [LGPLv3](https://www.gnu.org/licenses/lgpl-3.0.en.html).

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[package]
name = "canome"
description = "a library that helps building a CAN-based smart home system"
version = "0.1.0"
authors = [ "Paul Zinselmeyer <info@pfzetto.de>" ]
license = "LGPL-3.0-or-later"
edition = "2021"
repository = "https://github.com/pfzetto/canome"
keywords = [ "CAN", "embedded", "smarthome" ]
[dependencies]
defmt = "0.3"
heapless = { version = "0.8.0", default-features = false }
critical-section = "1.0"
embedded-hal = { version = "0.2.7", optional = true }
stm32f1xx-hal = { version = "0.10.0", optional = true }
rtic-monotonics = { version = "1.0.0", optional = true }
bxcan = { version = "0.7.0", optional = true }
nb = "1.1.0"
[features]
default = [ "can", "stm32" ]
can = [ "dep:bxcan" ]
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293
canome/src/bus.rs Normal file
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use core::{
cell::RefCell,
fmt::Debug,
future::{poll_fn, Future},
marker::PhantomData,
task::{Poll, Waker},
};
use critical_section::Mutex;
use heapless::{LinearMap, Vec};
use crate::{BusBackend, Channel, Decode, Encode};
pub struct Bus<B: BusBackend, const CHANNELS: usize, const WAKER_CAP: usize> {
rx_queues: critical_section::Mutex<RefCell<LinearMap<B::ID, BusInner<B, WAKER_CAP>, CHANNELS>>>,
backend: B,
}
#[derive(Debug)]
pub enum BusError<B: BusBackend> {
Backend(B::Error),
ChannelCapExceeded,
}
#[derive(Debug)]
struct BusInner<B: BusBackend, const WAKER_CAP: usize> {
state: B::Data,
wakers: Vec<Waker, WAKER_CAP>,
sender: bool,
}
#[derive(Clone)]
pub struct BusChannelTransceiver<'a, B: BusBackend, C: Channel<B>> {
bus: &'a dyn BusBehaviour<B>,
_channel: PhantomData<C>,
}
#[derive(Clone)]
pub struct BusChannelReceiver<'a, B: BusBackend, C: Channel<B>> {
bus: &'a dyn BusBehaviour<B>,
_channel: PhantomData<C>,
}
pub trait BusBehaviour<B: BusBackend> {
fn get(&self, id: B::ID) -> Option<B::Data>;
fn register_waker(&self, id: B::ID, waker: &Waker);
fn publish(&self, id: B::ID, value: B::Data) -> Result<(), BusError<B>>;
fn publish_local(&self, id: &B::ID, value: B::Data);
fn request(&self, id: B::ID) -> Result<(), BusError<B>>;
}
impl<B: BusBackend, T: BusBehaviour<B>> BusBehaviour<B> for &T {
fn get(&self, id: <B as BusBackend>::ID) -> Option<<B as BusBackend>::Data> {
self.get(id)
}
fn register_waker(&self, id: <B as BusBackend>::ID, waker: &Waker) {
self.register_waker(id, waker)
}
fn publish(
&self,
id: <B as BusBackend>::ID,
value: <B as BusBackend>::Data,
) -> Result<(), BusError<B>> {
self.publish(id, value)
}
fn publish_local(&self, id: &<B as BusBackend>::ID, value: <B as BusBackend>::Data) {
self.publish_local(id, value)
}
fn request(&self, id: <B as BusBackend>::ID) -> Result<(), BusError<B>> {
self.request(id)
}
}
pub trait BusRx<C: Channel<B>, B: BusBackend> {
fn get(&self) -> C::State;
fn request(&self) -> Result<(), BusError<B>>;
fn next(&self) -> impl Future<Output = C::State>;
}
pub trait BusTx<C: Channel<B>, B: BusBackend> {
fn publish(&self, value: C::State) -> Result<(), BusError<B>>;
}
impl<B: BusBackend, const CHANNELS: usize, const WAKER_CAP: usize> BusBehaviour<B>
for Bus<B, CHANNELS, WAKER_CAP>
where
B::ID: Eq,
{
fn get(&self, id: B::ID) -> Option<B::Data> {
critical_section::with(|cs| {
self.rx_queues
.borrow(cs)
.borrow_mut()
.get_mut(&id)
.map(|x| x.state.clone())
})
}
fn register_waker(&self, id: B::ID, waker: &Waker) {
critical_section::with(|cs| {
if let Some(inner) = self.rx_queues.borrow(cs).borrow_mut().get_mut(&id) {
if inner.wakers.iter().any(|ew| waker.will_wake(ew)) {
return;
}
if inner.wakers.is_full() {
inner.wake();
}
if inner.wakers.push(waker.clone()).is_err() {
panic!("tried to push a waker to a zero length waker list");
}
}
})
}
fn publish(&self, id: B::ID, value: B::Data) -> Result<(), BusError<B>> {
self.publish_local(&id, value.clone());
self.backend
.publish(id, Some(value))
.map_err(BusError::Backend)
}
fn publish_local(&self, id: &B::ID, value: B::Data) {
critical_section::with(|cs| {
if let Some(inner) = self.rx_queues.borrow(cs).borrow_mut().get_mut(id) {
inner.state = value.clone();
inner.wake();
}
});
}
fn request(&self, id: B::ID) -> Result<(), BusError<B>> {
self.backend.publish(id, None).map_err(BusError::Backend)
}
}
impl<B: BusBackend, const WAKER_CAP: usize> BusInner<B, WAKER_CAP> {
fn wake(&mut self) {
let mut wakers = Vec::new();
core::mem::swap(&mut wakers, &mut self.wakers);
wakers.into_iter().for_each(|w| w.wake());
}
}
impl<B: BusBackend, const SUBS: usize, const WAKER_CAP: usize> Bus<B, SUBS, WAKER_CAP>
where
B::ID: Eq,
{
pub const fn new(backend: B) -> Self {
Self {
rx_queues: Mutex::new(RefCell::new(LinearMap::new())),
backend,
}
}
pub fn transceiver<C: Channel<B>>(&self) -> Result<BusChannelTransceiver<'_, B, C>, BusError<B>>
where
C::State: Default + Encode<B::Data>,
{
critical_section::with(|cs| {
let mut rx_queues = self.rx_queues.borrow(cs).borrow_mut();
if let Some(existing) = rx_queues.get_mut(&C::ID) {
existing.sender = true;
Ok(BusChannelTransceiver {
bus: self,
_channel: PhantomData,
})
} else if rx_queues.len() < SUBS {
self.request(C::ID).ok();
let _ = rx_queues.insert(
C::ID,
BusInner {
state: C::State::default().encode(),
wakers: Vec::new(),
sender: true,
},
);
Ok(BusChannelTransceiver {
bus: self,
_channel: PhantomData,
})
} else {
Err(BusError::ChannelCapExceeded)
}
})
}
pub fn receiver<C: Channel<B>>(&self) -> Result<BusChannelReceiver<'_, B, C>, BusError<B>>
where
C::State: Default + Encode<B::Data>,
{
critical_section::with(|cs| {
let mut rx_queues = self.rx_queues.borrow(cs).borrow_mut();
if rx_queues.contains_key(&C::ID) {
Ok(BusChannelReceiver {
bus: self,
_channel: PhantomData,
})
} else if rx_queues.len() < SUBS {
self.request(C::ID).ok();
let _ = rx_queues.insert(
C::ID,
BusInner {
state: C::State::default().encode(),
wakers: Vec::new(),
sender: false,
},
);
Ok(BusChannelReceiver {
bus: self,
_channel: PhantomData,
})
} else {
Err(BusError::ChannelCapExceeded)
}
})
}
pub fn backend(&self) -> &B {
&self.backend
}
}
impl<'a, B: BusBackend, C: Channel<B>> BusTx<C, B> for BusChannelTransceiver<'a, B, C>
where
C::State: Encode<B::Data>,
{
fn publish(&self, value: C::State) -> Result<(), BusError<B>> {
self.bus.publish(C::ID, value.encode())
}
}
impl<'a, B: BusBackend, C> BusRx<C, B> for BusChannelTransceiver<'a, B, C>
where
C::State: Decode<B::Data> + PartialEq + Default,
C: Channel<B>,
{
fn get(&self) -> C::State {
self.bus
.get(C::ID)
.and_then(|x| C::State::decode(x).ok())
.expect("valid group")
}
fn request(&self) -> Result<(), BusError<B>> {
self.bus.request(C::ID)
}
async fn next(&self) -> C::State {
let old_state: C::State = self.get();
poll_fn(|cx| {
self.bus.register_waker(C::ID, cx.waker());
let state: C::State = self.get();
match state == old_state {
false => Poll::Ready(state),
true => Poll::Pending,
}
})
.await
}
}
impl<'a, B: BusBackend, C> BusRx<C, B> for BusChannelReceiver<'a, B, C>
where
C::State: Decode<B::Data> + PartialEq + Default,
C: Channel<B>,
{
fn get(&self) -> C::State {
self.bus
.get(C::ID)
.and_then(|x| C::State::decode(x).ok())
.expect("valid group")
}
fn request(&self) -> Result<(), BusError<B>> {
self.bus.request(C::ID)
}
async fn next(&self) -> C::State {
let old_state: C::State = self.get();
poll_fn(|cx| {
self.bus.register_waker(C::ID, cx.waker());
let state: C::State = self.get();
match state == old_state {
false => Poll::Ready(state),
true => Poll::Pending,
}
})
.await
}
}

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use core::{fmt::Debug, marker::ConstParamTy};
use crate::{bus::BusBehaviour, BusBackend, BusDataFormat};
use bxcan::{ExtendedId, Id, Instance, Rx0, StandardId, Tx};
use defmt::Format;
use heapless::mpmc::MpMcQueue;
pub struct BxCanBus<const TX_CAP: usize> {
tx_queue: MpMcQueue<(<Self as BusBackend>::ID, Option<<Self as BusBackend>::Data>), TX_CAP>,
on_publish: &'static (dyn Fn(&Self) + Send + Sync),
}
impl<const TX_CAP: usize> Debug for BxCanBus<TX_CAP> {
fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
f.debug_struct("BxCanBus").finish()
}
}
#[derive(PartialEq, Eq, ConstParamTy, Debug, Clone, Copy)]
pub enum BxCanId {
Standard(u16),
Extended(u32),
}
#[derive(Debug)]
pub enum BxCanBusError {
/// An object couldn't be added to the TX queue of [`BxCanBus`] because it is full.
TxQueueFull,
}
impl<const TX_CAP: usize> BusBackend for BxCanBus<TX_CAP> {
type ID = BxCanId;
type Data = CanDataFormat;
type Error = BxCanBusError;
fn publish(&self, id: Self::ID, data: Option<Self::Data>) -> Result<(), Self::Error> {
self.tx_queue
.enqueue((id, data))
.map_err(|_| Self::Error::TxQueueFull)?;
(self.on_publish)(self);
Ok(())
}
}
impl<const TX_CAP: usize> Default for BxCanBus<TX_CAP> {
fn default() -> Self {
Self {
tx_queue: MpMcQueue::new(),
on_publish: &Self::empty_hook,
}
}
}
impl<const TX_CAP: usize> BxCanBus<TX_CAP> {
pub const fn new() -> Self {
Self {
tx_queue: MpMcQueue::new(),
on_publish: &Self::empty_hook,
}
}
#[inline]
fn empty_hook(&self) {}
pub const fn new_with_hook(on_publish: &'static (dyn Fn(&Self) + Send + Sync)) -> Self {
Self {
tx_queue: MpMcQueue::new(),
on_publish,
}
}
pub fn handle_tx_interrupt<I: Instance>(
&self,
can_tx: &mut Tx<I>,
) -> Result<(), BxCanBusError> {
let rx = &self.tx_queue;
while let Some((channel_id, data)) = rx.dequeue() {
let frame = encode_frame(channel_id, data);
match can_tx.transmit(&frame) {
Ok(status) => match status.dequeued_frame().map(decode_frame) {
None => {}
Some((channel_id, data)) => rx
.enqueue((channel_id, data))
.map_err(|_| BxCanBusError::TxQueueFull)?,
},
Err(nb::Error::WouldBlock) => {
rx.enqueue((channel_id, data))
.map_err(|_| BxCanBusError::TxQueueFull)?;
break;
}
Err(_) => unreachable!(),
}
}
Ok(())
}
pub fn handle_rx_interrupt<I: Instance>(
&self,
can_rx: &mut Rx0<I>,
bus: impl BusBehaviour<Self>,
) -> Result<(), BxCanBusError> {
loop {
match can_rx.receive() {
Ok(frame) => {
let (channel_id, data) = decode_frame(&frame);
if let Some(data) = data {
bus.publish_local(&channel_id, data);
} else if let Some(state) = bus.get(channel_id) {
self.tx_queue
.enqueue((channel_id, Some(state)))
.map_err(|_| BxCanBusError::TxQueueFull)?;
(self.on_publish)(self);
}
}
Err(nb::Error::WouldBlock) => break,
Err(nb::Error::Other(_)) => {}
}
}
Ok(())
}
}
#[derive(Clone, Copy, Format, Debug)]
pub struct CanDataFormat {
length: u8,
data: [u8; 8],
}
impl CanDataFormat {
pub fn new(data: &[u8]) -> Self {
assert!(data.len() <= 8);
let mut padded = [0_u8; 8];
padded[0..data.len()].copy_from_slice(data);
Self {
length: data.len() as u8,
data: padded,
}
}
pub fn data(&self) -> &[u8] {
&self.data[..self.length as usize]
}
}
impl BusDataFormat for CanDataFormat {}
fn decode_frame(frame: &bxcan::Frame) -> (BxCanId, Option<CanDataFormat>) {
let id = match frame.id() {
Id::Standard(id) => BxCanId::Standard(id.as_raw()),
Id::Extended(id) => BxCanId::Extended(id.as_raw()),
};
if let Some(data) = frame.data() {
(id, Some(CanDataFormat::new(data)))
} else {
(id, None)
}
}
fn encode_frame(id: BxCanId, data: Option<CanDataFormat>) -> bxcan::Frame {
let id = match id {
BxCanId::Standard(id) => Id::Standard(StandardId::new(id).unwrap()),
BxCanId::Extended(id) => Id::Extended(ExtendedId::new(id).unwrap()),
};
if let Some(data) = data {
bxcan::Frame::new_data(id, bxcan::Data::new(data.data()).expect("valid can data"))
} else {
bxcan::Frame::new_remote(id, 8)
}
}

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use defmt::Format;
#[derive(Default, Debug, Format, Clone, Copy, PartialEq, Eq)]
pub enum ContactState {
#[default]
Open,
Closed,
}
impl ContactState {
pub fn is_open(&self) -> bool {
matches!(self, Self::Open)
}
pub fn is_closed(&self) -> bool {
matches!(self, Self::Closed)
}
}
#[cfg(feature = "can")]
mod can {
use crate::{can::CanDataFormat, Decode, Encode};
use super::ContactState;
impl Encode<CanDataFormat> for ContactState {
fn encode(self) -> CanDataFormat {
let data = match self {
Self::Open => 0,
Self::Closed => 1,
};
CanDataFormat::new(&[data])
}
}
impl Decode<CanDataFormat> for ContactState {
fn decode(value: CanDataFormat) -> Result<Self, CanDataFormat>
where
Self: Sized,
{
let data = value.data();
if data.len() != 1 {
return Err(value);
}
Ok(match data[0] & 1 {
0 => Self::Open,
1 => Self::Closed,
_ => unreachable!(),
})
}
}
}

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use defmt::Format;
#[derive(Default, Debug, Format, Clone, Copy, PartialEq, Eq)]
pub struct CoverState {
pub tilt: u16,
pub position: u16,
}
impl CoverState {
pub fn is_open(&self) -> bool {
self.position > 0
}
pub fn is_closed(&self) -> bool {
self.position == 0
}
}
#[cfg(feature = "can")]
mod can {
use crate::{can::CanDataFormat, Decode, Encode};
use super::CoverState;
impl Encode<CanDataFormat> for CoverState {
fn encode(self) -> CanDataFormat {
let hue = self.tilt.to_be_bytes();
let saturation = self.position.to_be_bytes();
CanDataFormat::new(&[hue[0], hue[1], saturation[0], saturation[1]])
}
}
impl Decode<CanDataFormat> for CoverState {
fn decode(value: CanDataFormat) -> Result<Self, CanDataFormat>
where
Self: Sized,
{
let data = value.data();
if data.len() != 4 {
return Err(value);
}
let hue = u16::from_be_bytes([data[0], data[1]]);
let saturation = u16::from_be_bytes([data[2], data[3]]);
Ok(Self {
tilt: hue,
position: saturation,
})
}
}
}

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#![no_std]
#![feature(adt_const_params)]
use core::fmt::Debug;
pub mod bus;
#[cfg(feature = "can")]
pub mod can;
pub mod contact;
pub mod cover;
pub mod light;
pub mod state;
#[cfg(feature = "stm32")]
pub mod stm32;
pub mod time;
pub trait Channel<B: BusBackend> {
const ID: B::ID;
type State: Encode<B::Data> + Decode<B::Data>;
}
pub trait Encode<F: BusDataFormat> {
fn encode(self) -> F;
}
pub trait Decode<F: BusDataFormat> {
fn decode(value: F) -> Result<Self, F>
where
Self: Sized;
}
pub trait BusDataFormat: Debug + Clone {}
pub trait BusBackend {
type ID: Debug + Clone;
type Data: BusDataFormat;
type Error;
fn publish(&self, id: Self::ID, data: Option<Self::Data>) -> Result<(), Self::Error>;
}

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use defmt::Format;
#[derive(Default, Debug, Format, Clone, Copy, PartialEq, Eq)]
pub struct LightState {
pub hue: u16,
pub saturation: u16,
pub brightness: u16,
}
#[cfg(feature = "can")]
mod can {
use crate::{can::CanDataFormat, Decode, Encode};
use super::LightState;
impl Encode<CanDataFormat> for LightState {
fn encode(self) -> CanDataFormat {
let hue = self.hue.to_be_bytes();
let saturation = self.saturation.to_be_bytes();
let brightness = self.brightness.to_be_bytes();
CanDataFormat::new(&[
hue[0],
hue[1],
saturation[0],
saturation[1],
brightness[0],
brightness[1],
])
}
}
impl Decode<CanDataFormat> for LightState {
fn decode(value: CanDataFormat) -> Result<Self, CanDataFormat>
where
Self: Sized,
{
let data = value.data();
if data.len() != 6 {
return Err(value);
}
let hue = u16::from_be_bytes([data[0], data[1]]);
let saturation = u16::from_be_bytes([data[2], data[3]]);
let brightness = u16::from_be_bytes([data[4], data[5]]);
Ok(Self {
hue,
saturation,
brightness,
})
}
}
}

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#[derive(Copy, Clone, PartialEq, Eq, Default)]
pub enum ThreeWaySwitchState {
#[default]
Off,
A,
B,
}
#[cfg(feature = "can")]
mod can {
use crate::{can::CanDataFormat, Decode, Encode};
use super::ThreeWaySwitchState;
impl Encode<CanDataFormat> for ThreeWaySwitchState {
fn encode(self) -> CanDataFormat {
let desc = match self {
Self::Off => 0,
Self::A => 1,
Self::B => 2,
};
CanDataFormat::new(&[desc])
}
}
impl Decode<CanDataFormat> for ThreeWaySwitchState {
fn decode(value: CanDataFormat) -> Result<Self, CanDataFormat>
where
Self: Sized,
{
if value.data().len() != 1 {
return Err(value);
}
match value.data()[0] {
0 => Ok(Self::Off),
1 => Ok(Self::A),
2 => Ok(Self::B),
_ => Err(value),
}
}
}
}

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use core::ops::{Deref, DerefMut};
use crate::{bus::BusRx, state::ThreeWaySwitchState, BusBackend, Channel};
use rtic_monotonics::{
systick::{
fugit::{Duration, Instant},
Systick,
},
Monotonic,
};
use stm32f1xx_hal::gpio::{ExtiPin, Input, Pin, PullDown};
pub mod buttonmatrix;
pub mod motorfader;
pub struct ThreeWaySwitch<const AP: char, const AN: u8, const BP: char, const BN: u8> {
a: Pin<AP, AN, Input<PullDown>>,
b: Pin<BP, BN, Input<PullDown>>,
}
impl<const AP: char, const AN: u8, const BP: char, const BN: u8> ThreeWaySwitch<AP, AN, BP, BN> {
pub const fn new(a: Pin<AP, AN, Input<PullDown>>, b: Pin<BP, BN, Input<PullDown>>) -> Self {
Self { a, b }
}
pub fn state(&self) -> ThreeWaySwitchState {
match (self.a.is_low(), self.b.is_low()) {
(true, false) => ThreeWaySwitchState::A,
(false, true) => ThreeWaySwitchState::B,
_ => ThreeWaySwitchState::Off,
}
}
pub fn a(&mut self) -> &mut Pin<AP, AN, Input<PullDown>> {
&mut self.a
}
pub fn b(&mut self) -> &mut Pin<BP, BN, Input<PullDown>> {
&mut self.b
}
}
pub struct ChannelDerivative<'a, C: Channel<B>, R: BusRx<C, B>, B: BusBackend> {
channel: &'a R,
last: C::State,
updated: Instant<u32, 1, 1000>,
}
impl<'a, C, R, B> ChannelDerivative<'a, C, R, B>
where
C: Channel<B>,
C::State: Default + PartialEq + Clone,
R: BusRx<C, B>,
B: BusBackend,
{
pub fn new(channel: &'a R) -> Self {
Self {
channel,
last: C::State::default(),
updated: Systick::now(),
}
}
pub fn update(&mut self, new: C::State) -> Option<(C::State, Duration<u32, 1, 1000>)> {
if new != self.last {
self.last = new.clone();
let now = Systick::now();
let last_state_for = now - self.updated;
self.updated = now;
Some((new, last_state_for))
} else {
None
}
}
pub async fn next(&mut self) -> (C::State, Duration<u32, 1, 1000>) {
loop {
if let Some(value) = self.update(self.channel.next().await) {
return value;
}
}
}
}

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use defmt::Format;
use rtic_monotonics::{systick::Systick, Monotonic};
use stm32f1xx_hal::gpio::{ErasedPin, Input, Output, PullDown};
pub struct ButtonMatrix<const ROWS: usize, const COLS: usize> {
rows: [ErasedPin<Output>; ROWS],
cols: [ErasedPin<Input<PullDown>>; COLS],
pub state: [[ButtonState; ROWS]; COLS],
}
impl<const ROWS: usize, const COLS: usize> ButtonMatrix<ROWS, COLS> {
pub fn new(
mut rows: [ErasedPin<Output>; ROWS],
cols: [ErasedPin<Input<PullDown>>; COLS],
) -> Self {
for row in rows.iter_mut() {
row.set_low();
}
Self {
rows,
cols,
state: [[ButtonState::Released; ROWS]; COLS],
}
}
pub fn scan(&mut self) -> [[Option<ButtonEvent>; ROWS]; COLS] {
const CLICK_TIME: u16 = 200;
let mut events = [[None; ROWS]; COLS];
for row in self.rows.iter_mut() {
row.set_low();
}
let millis_since_epoch: u16 = Systick::now().duration_since_epoch().to_millis() as u16;
for (ri, row) in self.rows.iter_mut().enumerate() {
row.set_high();
for (ci, col) in self.cols.iter_mut().enumerate() {
let cell = &mut self.state[ci][ri];
let pressed = col.is_high();
match (&cell, pressed) {
(ButtonState::Released, true) => {
*cell = ButtonState::Ambigous(millis_since_epoch);
}
(ButtonState::Ambigous(pressed_at), true)
if millis_since_epoch.wrapping_sub(*pressed_at) > CLICK_TIME =>
{
events[ci][ri] = Some(ButtonEvent::Pressed);
*cell = ButtonState::Pressed;
}
(ButtonState::Ambigous(pressed_at), false)
if millis_since_epoch.wrapping_sub(*pressed_at) <= CLICK_TIME =>
{
events[ci][ri] = Some(ButtonEvent::Clicked);
*cell = ButtonState::Released;
}
(ButtonState::Pressed, false) => {
events[ci][ri] = Some(ButtonEvent::Released);
*cell = ButtonState::Released;
}
_ => {}
}
}
row.set_low();
}
events
}
}
#[derive(Copy, Clone, Format)]
pub enum ButtonEvent {
Clicked,
Pressed,
Released,
}
#[derive(Copy, Clone, Format, PartialEq, Eq)]
pub enum ButtonState {
Ambigous(u16),
Pressed,
Released,
}

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use core::{fmt::Debug, marker::PhantomData};
use embedded_hal::{
adc::{Channel, OneShot},
digital::v2::{InputPin, OutputPin},
PwmPin,
};
use rtic_monotonics::systick::{fugit::ExtU32, Systick};
use stm32f1xx_hal::gpio::{Dynamic, Pin, HL};
pub struct Fader<PA, PB, PP, PADC, const CP: char, const CN: u8>
where
PA: PwmPin<Duty = u16>,
PB: PwmPin<Duty = u16>,
PP: Channel<PADC>,
Pin<CP, CN, Dynamic>: HL,
{
pub cap_avg: u16,
pub target: u16,
pub touched: bool,
pub position: u16,
pin_a: PA,
pin_b: PB,
pin_pot: PP,
adc_pot: PhantomData<PADC>,
cap_pin: Pin<CP, CN, Dynamic>,
}
impl<PA, PB, PP, PADC, const CP: char, const CN: u8> Fader<PA, PB, PP, PADC, CP, CN>
where
PA: PwmPin<Duty = u16>,
PB: PwmPin<Duty = u16>,
PP: Channel<PADC>,
Pin<CP, CN, Dynamic>: HL,
{
pub fn new(
target: u16,
pin_a: PA,
pin_b: PB,
pin_pot: PP,
cap_pin: Pin<CP, CN, Dynamic>,
) -> Self {
Self {
cap_avg: 0,
target,
touched: false,
position: 0,
pin_a,
pin_b,
pin_pot,
adc_pot: PhantomData,
cap_pin,
}
}
pub async fn drive<O>(&mut self, pot_adc: &mut O, crl: &mut <Pin<CP, CN, Dynamic> as HL>::Cr)
where
O: OneShot<PADC, u16, PP>,
<O as OneShot<PADC, u16, PP>>::Error: Debug,
{
//TODO remove unwrap
self.position = pot_adc.read(&mut self.pin_pot).unwrap() * 16;
(self.touched, self.cap_avg) = sense_touch(&mut self.cap_pin, crl, self.cap_avg).await;
let diff: i32 = (self.position as i32) - (self.target as i32);
const START: u32 = 850;
//TODO rework fader movement
let p = |max: u16| {
((START + ((max as u32) - START) * diff.unsigned_abs() * 2 / (u16::MAX as u32)) as u16)
.clamp(0, max)
};
if self.touched {
self.pin_a.set_duty(0);
self.pin_b.set_duty(0);
} else if diff < 0 {
self.pin_a.set_duty(0);
self.pin_b.set_duty(p(self.pin_b.get_max_duty()));
} else {
self.pin_a.set_duty(p(self.pin_a.get_max_duty()));
self.pin_b.set_duty(0);
}
}
}
//TODO rework sensing
pub async fn sense_touch<const P: char, const N: u8>(
pin: &mut Pin<P, N, Dynamic>,
crl: &mut <Pin<P, N, Dynamic> as HL>::Cr,
last_avg: u16,
) -> (bool, u16)
where
Pin<P, N, Dynamic>: HL,
{
const DEV: u16 = 5;
const SAMPLES: usize = 4;
let mut samples = [0_u16; SAMPLES];
for sample in samples.iter_mut() {
pin.make_push_pull_output(crl);
pin.set_high();
Systick::delay(5.micros()).await;
pin.set_low();
Systick::delay(5.micros()).await;
pin.make_floating_input(crl);
while pin.is_low().unwrap() && (*sample <= last_avg + DEV || last_avg == 0) {
*sample += 1;
}
}
let total = samples.iter().sum::<u16>() / SAMPLES as u16;
if last_avg == 0 {
(false, total)
} else if total > last_avg && diff(total, last_avg) > DEV {
(true, last_avg)
} else {
(false, total)
}
}
fn diff(a: u16, b: u16) -> u16 {
if a > b {
a - b
} else {
b - a
}
}

40
canome/src/time.rs Normal file
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@ -0,0 +1,40 @@
use defmt::Format;
#[derive(Default, Debug, Format, Clone, Copy, PartialEq, Eq)]
pub struct Timestamp {
millis_since_epoch: i64,
}
#[cfg(feature = "can")]
mod can {
use crate::{can::CanDataFormat, Decode, Encode};
use super::Timestamp;
impl Encode<CanDataFormat> for Timestamp {
fn encode(self) -> CanDataFormat {
let timestamp = self.millis_since_epoch.to_be_bytes();
CanDataFormat::new(&timestamp)
}
}
impl Decode<CanDataFormat> for Timestamp {
fn decode(value: CanDataFormat) -> Result<Self, CanDataFormat>
where
Self: Sized,
{
let data = value.data();
if data.len() != 8 {
return Err(value);
}
let mut timestamp = [0; 8];
timestamp.copy_from_slice(data);
let timestamp = i64::from_be_bytes(timestamp);
Ok(Self {
millis_since_epoch: timestamp,
})
}
}
}