159 lines
6.3 KiB
Rust
159 lines
6.3 KiB
Rust
#![no_std]
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#![no_main]
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use defmt::{debug, error, info};
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use embassy_executor::Spawner;
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use embassy_rp::bind_interrupts;
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use embassy_rp::peripherals::UART0;
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use embassy_rp::uart::{Config, DataBits, InterruptHandler as UARTInterruptHandler, Parity, StopBits, Uart};
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use embassy_time::{with_timeout, Duration, Timer};
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use heapless::Vec;
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use {defmt_rtt as _, panic_probe as _};
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bind_interrupts!(pub struct Irqs {
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UART0_IRQ => UARTInterruptHandler<UART0>;
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});
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const START: u16 = 0xEF01;
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const ADDRESS: u32 = 0xFFFFFFFF;
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// ================================================================================
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// Data package format
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// Name Length Description
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// ==========================================================================================================
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// Start 2 bytes Fixed value of 0xEF01; High byte transferred first.
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// Address 4 bytes Default value is 0xFFFFFFFF, which can be modified by command.
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// High byte transferred first and at wrong adder value, module
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// will reject to transfer.
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// PID 1 byte 01H Command packet;
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// 02H Data packet; Data packet shall not appear alone in executing
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// processs, must follow command packet or acknowledge packet.
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// 07H Acknowledge packet;
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// 08H End of Data packet.
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// LENGTH 2 bytes Refers to the length of package content (command packets and data packets)
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// plus the length of Checksum (2 bytes). Unit is byte. Max length is 256 bytes.
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// And high byte is transferred first.
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// DATA - It can be commands, data, command’s parameters, acknowledge result, etc.
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// (fingerprint character value, template are all deemed as data);
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// SUM 2 bytes The arithmetic sum of package identifier, package length and all package
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// contens. Overflowing bits are omitted. high byte is transferred first.
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// ================================================================================
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// Checksum is calculated on 'length (2 bytes) + data (??)'.
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fn compute_checksum(buf: Vec<u8, 32>) -> u16 {
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let mut checksum = 0u16;
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let check_end = buf.len();
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let checked_bytes = &buf[6..check_end];
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for byte in checked_bytes {
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checksum += (*byte) as u16;
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}
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return checksum;
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}
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#[embassy_executor::main]
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async fn main(_spawner: Spawner) {
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info!("Start");
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let p = embassy_rp::init(Default::default());
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// Initialize the fingerprint scanner.
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let mut config = Config::default();
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config.baudrate = 57600;
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config.stop_bits = StopBits::STOP1;
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config.data_bits = DataBits::DataBits8;
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config.parity = Parity::ParityNone;
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let (uart, tx_pin, tx_dma, rx_pin, rx_dma) = (p.UART0, p.PIN_16, p.DMA_CH0, p.PIN_17, p.DMA_CH1);
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let uart = Uart::new(uart, tx_pin, rx_pin, Irqs, tx_dma, rx_dma, config);
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let (mut tx, mut rx) = uart.split();
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let mut vec_buf: Vec<u8, 32> = heapless::Vec::new();
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let mut data: Vec<u8, 32> = heapless::Vec::new();
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let mut speeds: Vec<u8, 3> = heapless::Vec::new();
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let _ = speeds.push(0xC8); // Slow
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let _ = speeds.push(0x20); // Medium
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let _ = speeds.push(0x02); // Fast
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// Cycle through the three colours Red, Blue and Purple forever.
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loop {
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for colour in 1..=3 {
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for speed in &speeds {
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// Set the data first, because the length is dependent on that.
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// However, we write the length bits before we do the data.
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data.clear();
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let _ = data.push(0x01); // ctrl=Breathing light
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let _ = data.push(*speed);
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let _ = data.push(colour as u8); // colour=Red, Blue, Purple
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let _ = data.push(0x00); // times=Infinite
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// Clear buffers
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vec_buf.clear();
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// START
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let _ = vec_buf.extend_from_slice(&START.to_be_bytes()[..]);
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// ADDRESS
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let _ = vec_buf.extend_from_slice(&ADDRESS.to_be_bytes()[..]);
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// PID
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let _ = vec_buf.extend_from_slice(&[0x01]);
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// LENGTH
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let len: u16 = (1 + data.len() + 2).try_into().unwrap();
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let _ = vec_buf.extend_from_slice(&len.to_be_bytes()[..]);
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// COMMAND
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let _ = vec_buf.push(0x35); // Command: AuraLedConfig
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// DATA
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let _ = vec_buf.extend_from_slice(&data);
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// SUM
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let chk = compute_checksum(vec_buf.clone());
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let _ = vec_buf.extend_from_slice(&chk.to_be_bytes()[..]);
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// =====
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// Send command buffer.
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let data_write: [u8; 16] = vec_buf.clone().into_array().unwrap();
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debug!(" write='{:?}'", data_write[..]);
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match tx.write(&data_write).await {
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Ok(..) => info!("Write successful."),
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Err(e) => error!("Write error: {:?}", e),
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}
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// =====
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// Read command buffer.
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let mut read_buf: [u8; 1] = [0; 1]; // Can only read one byte at a time!
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let mut data_read: Vec<u8, 32> = heapless::Vec::new(); // Save buffer.
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info!("Attempting read.");
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loop {
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// Some commands, like `Img2Tz()` needs longer, but we hard-code this to 200ms
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// for this command.
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match with_timeout(Duration::from_millis(200), rx.read(&mut read_buf)).await {
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Ok(..) => {
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// Extract and save read byte.
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debug!(" r='{=u8:#04x}H' ({:03}D)", read_buf[0], read_buf[0]);
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let _ = data_read.push(read_buf[0]).unwrap();
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}
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Err(..) => break, // TimeoutError -> Ignore.
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}
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}
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info!("Read successful");
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debug!(" read='{:?}'", data_read[..]);
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Timer::after_secs(3).await;
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info!("Changing speed.");
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}
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info!("Changing colour.");
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}
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}
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}
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