.gitea/workflows/pull_request.yaml

@@ -0,0 +1,22 @@
+name: Gavania Merge Build
+run_name: Test successful gavania build on merge request
+
+on:
+  pull_request:
+    types: [opened, reopened, edited, review_requested, synchronize]
+
+jobs:
+  build:
+
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: https://github.com/actions/checkout@v3
+
+      - uses: https://github.com/dtolnay/rust-toolchain@stable
+
+      - name: Install flip-link
+        run: cargo install flip-link
+
+      - name: Build
+        run: cargo build

Cargo.toml

@@ -6,17 +6,15 @@ edition = "2021"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
-embassy-executor = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy", features = ["arch-cortex-m", "executor-thread", "defmt", "integrated-timers"] }
+embassy-executor = { version = "0.3.0", git = "https://github.com/embassy-rs/embassy", features = ["nightly", "arch-cortex-m", "executor-thread", "integrated-timers"] }
-embassy-rp = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy", features = ["defmt", "unstable-traits", "nightly", "unstable-pac", "time-driver", "pio", "critical-section-impl"] }
+embassy-rp = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy", features = ["unstable-traits", "nightly", "unstable-pac", "time-driver", "critical-section-impl"] }
-embassy-usb = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy", features = ["defmt", "msos-descriptor"] }
+embassy-usb = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy", features = ["msos-descriptor"] }
-embassy-time = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy", features = ["defmt", "defmt-timestamp-uptime"] }
+embassy-time = { version = "0.1.2", git = "https://github.com/embassy-rs/embassy", features = ["defmt-timestamp-uptime"] }
 embassy-futures = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy" }
 
 numtoa = "0.2.4"
 
 usbd-hid = "0.6.1"
-
-defmt = "0.3"
 defmt-rtt = "0.4"
 
 cortex-m = { version = "0.7.6" }

rust-toolchain.toml

@@ -1,4 +1,4 @@
 [toolchain]
-channel = "nightly-2023-04-11"
+channel = "nightly-2023-08-19"
 components = [ "rust-src", "rustfmt", "llvm-tools-preview" ]
 targets = ["thumbv6m-none-eabi"]

src/main.rs

@@ -2,6 +2,7 @@
 #![no_main]
 #![feature(type_alias_impl_trait)]
 #![feature(never_type)]
+#![allow(incomplete_features)]
 #![feature(async_fn_in_trait)]
 
 #[cfg(not(feature = "serial"))]
@@ -19,8 +20,11 @@ use embassy_rp::{
     spi::{CsPin, Instance},
 };
 
-use embassy_time::{Duration, Timer};
+use embassy_rp::peripherals::PIN_25;
-use mouse_sensor::PAW3212DB_TJDT;
+use embassy_rp::spi::{ClkPin, MisoPin, MosiPin};
+use embassy_rp::Peripheral;
+
+// use embassy_time::{Duration, Timer};
 #[cfg(not(feature = "serial"))]
 use usbd_hid::descriptor::MouseReport;
 
@@ -30,8 +34,6 @@ use crate::{mouse_hid::mouse_config::MouseConfig, mouse_hid::MouseHID};
 #[cfg(feature = "serial")]
 use crate::usb_serial::{Serial, SerialConfig};
 
-use crate::usb_serial::Sender;
-
 use crate::mouse_sensor::{MouseSensor, MouseSensorPins};
 
 use {defmt_rtt as _, panic_probe as _};
@@ -40,70 +42,16 @@ use {defmt_rtt as _, panic_probe as _};
 async fn main(_spawner: Spawner) {
     let p = embassy_rp::init(Default::default());
 
-    // let mouse_sensor = MouseSensor::new(
+    #[cfg(not(feature = "serial"))]
-    //     p.PIN_25,
+    mouse_hid(p.USB, mouse_sensor).await;
-    //     MouseSensorPins::new(p.SPI0, p.PIN_2, p.PIN_3, p.PIN_4, p.PIN_5),
-    //     |_| (),
-    // )
-    // .await;
-
-    // #[cfg(not(feature = "serial"))]
-    // mouse_hid(p.USB, mouse_sensor).await;
-
-    // #[cfg(feature = "serial")]
-    // serial_hid(p.USB, mouse_sensor).await;
 
     #[cfg(feature = "serial")]
-    {
+    serial_hid(
-        let serial = Serial::new(p.USB, SerialConfig::new());
+        p.USB,
-
+        p.PIN_25,
-        let usb_future = Serial::run_usb().await;
+        MouseSensorPins::new(p.SPI0, p.PIN_2, p.PIN_3, p.PIN_4, p.PIN_5),
-
+    )
-        // let mut mouse_sensor = MouseSensor::new(
+    .await;
-        //     p.PIN_25,
-        //     MouseSensorPins::new(p.SPI0, p.PIN_2, p.PIN_3, p.PIN_4, p.PIN_5),
-        //     serial,
-        // )
-        // .await;
-
-        let sensor_pins = MouseSensorPins::new(p.SPI0, p.PIN_2, p.PIN_3, p.PIN_4, p.PIN_5);
-
-        let mut spi_device = PAW3212DB_TJDT::new(
-            sensor_pins.spi,
-            sensor_pins.clk,
-            sensor_pins.mosi,
-            sensor_pins.miso,
-            sensor_pins.cs,
-            serial,
-        )
-        .await;
-
-        // Do stuff with the class!
-        let hid_future = async {
-            loop {
-                // if let Some((x, y)) = mouse_sensor.read_movement().await {
-                //     // let report = MouseReport {
-                //     //     buttons: 0,
-                //     //     x,
-                //     //     y,
-                //     //     wheel: 0,
-                //     //     pan: 0,
-                //     // };
-
-                //     // serial.send_number(x, 10).await;
-                //     // serial.send_number(y, 10).await;
-                // }
-
-                let id_1 = spi_device.product_id_1().await;
-                spi_device.sender.send_msg("read pid1:\n").await;
-                spi_device.sender.send_number(id_1, 10).await;
-                spi_device.sender.send_msg("\n").await;
-                Timer::after(Duration::from_secs(1)).await;
-            }
-        };
-
-        join(hid_future, usb_future).await;
-    }
 }
 
 #[cfg(not(feature = "serial"))]
@@ -139,15 +87,27 @@ where
 }
 
 #[cfg(feature = "serial")]
-async fn serial_hid<'d, S, T, CSP>(usb: USB, mut mouse_sensor: MouseSensor<'d, S, T, CSP>)
+async fn serial_hid<'d, T, CSP, Clk, Mosi, Miso, P, C, MI, MO, CS>(
-where
+    usb: USB,
-    S: Sender,
+    led: PIN_25,
+    sensor_pins: MouseSensorPins<'d, T, Clk, Mosi, Miso, CSP, P, C, MI, MO, CS>,
+) where
     T: Instance,
-    CSP: CsPin<T> + 'd,
-{
-    let mut serial = Serial::new(usb, SerialConfig::new());
 
-    let usb_future = Serial::run_usb().await;
+    CSP: CsPin<T> + 'd,
+    Clk: ClkPin<T> + 'd,
+    Mosi: MosiPin<T> + 'd,
+    Miso: MisoPin<T> + 'd,
+
+    P: Peripheral<P = T> + 'd,
+    C: Peripheral<P = Clk> + 'd,
+    MI: Peripheral<P = Mosi> + 'd,
+    MO: Peripheral<P = Miso> + 'd,
+    CS: Peripheral<P = CSP> + 'd,
+{
+    let (serial, usb_future) = Serial::new(usb, SerialConfig::new()).await;
+
+    let mut mouse_sensor = MouseSensor::new(led, sensor_pins, serial).await;
 
     // Do stuff with the class!
     let hid_future = async {
@@ -161,8 +121,10 @@ where
                 //     pan: 0,
                 // };
 
-                serial.send_number(x, 10).await;
+                mouse_sensor.sender().send_number(x, 10).await;
-                serial.send_number(y, 10).await;
+                mouse_sensor.sender().send_msg("\n").await;
+                mouse_sensor.sender().send_number(y, 10).await;
+                mouse_sensor.sender().send_msg("\n").await;
             }
         }
     };

src/mouse_sensor/paw3212db_tjdt.rs

@@ -2,9 +2,7 @@ use core::mem;
 
 use embassy_rp::{
     gpio::{Level, Output},
-    spi::{
+    spi::{Blocking, ClkPin, Config, CsPin, Instance as SpiInstance, MisoPin, MosiPin, Spi},
-        Blocking, ClkPin, Config, CsPin, Instance as SpiInstance, MisoPin, MosiPin, Polarity, Spi,
-    },
     Peripheral,
 };
 use embassy_time::{Duration, Timer};
@@ -63,7 +61,7 @@ where
     ) -> PAW3212DB_TJDT<'a, S, CS, T> {
         let mut spi_config = Config::default();
         spi_config.frequency = 1_000_000;
-        spi_config.polarity = Polarity::IdleHigh;
+        // spi_config.polarity = Polarity::IdleHigh;
 
         let spi = Spi::new_blocking(spi, clk, mosi, miso, spi_config);
 

src/mouse_sensor/wrapper.rs

@@ -110,22 +110,22 @@ where
 
         let mut me = Self { spi_device, led };
 
-        // me.led.set_high();
+        me.led.set_high();
 
-        // // verify initialization
+        // verify initialization
-        // loop {
+        let mut verified = false;
-        //     if me.verify_product_id_1().await {
-        //         break;
-        //     }
-        // }
 
-        // loop {
+        for _ in 0..50 {
-        //     if me.verify_product_id_2().await {
+            if me.verify_product_id_1().await && me.verify_product_id_2().await {
-        //         break;
+                verified = true;
-        //     }
+            }
-        // }
+        }
 
-        // me.led.set_low();
+        if !verified {
+            panic!();
+        }
+
+        me.led.set_low();
 
         me
     }
@@ -168,4 +168,8 @@ where
             None
         }
     }
+
+    pub fn sender(&mut self) -> &mut S {
+        &mut self.spi_device.sender
+    }
 }

src/usb_serial/mod.rs

@@ -4,8 +4,9 @@ use numtoa::NumToA;
 
 use core::future::Future;
 
-use embassy_rp::usb::Driver;
+use embassy_rp::bind_interrupts;
-use embassy_rp::{interrupt, peripherals::USB};
+use embassy_rp::peripherals::USB;
+use embassy_rp::usb::{Driver, InterruptHandler};
 
 use embassy_usb::class::cdc_acm::{CdcAcmClass, State};
 use embassy_usb::{Builder, Config, UsbDevice};
@@ -28,15 +29,21 @@ pub trait Sender {
         T: NumToA<I>;
 }
 
+bind_interrupts!(struct Irqs {
+    USBCTRL_IRQ => InterruptHandler<USB>;
+});
+
 pub struct Serial<'a> {
     class: CdcAcmClass<'a, Driver<'a, USB>>,
 }
 
 impl Serial<'static> {
-    pub fn new(usb: USB, serial_config: SerialConfig<'static>) -> Serial<'static> {
+    pub async fn new(
+        usb: USB,
+        serial_config: SerialConfig<'static>,
+    ) -> (Serial<'static>, impl Future<Output = !>) {
         // Create the driver, from the HAL.
-        let irq = interrupt::take!(USBCTRL_IRQ);
+        let driver = Driver::new(usb, Irqs);
-        let driver = Driver::new(usb, irq);
 
         // Create embassy-usb Config
         let mut config = Config::new(
@@ -78,10 +85,10 @@ impl Serial<'static> {
             USB = Some(builder.build());
         };
 
-        Self { class }
+        (Self { class }, Self::run_usb().await)
     }
 
-    pub async fn run_usb() -> impl Future<Output = !> {
+    async fn run_usb() -> impl Future<Output = !> {
         unsafe { USB.as_mut().unwrap().run() }
     }