Progress towards firmware

firmware/film-scanner-fw/Cargo.toml

@@ -35,3 +35,5 @@ rp2040-hal = { version="0.4.0", features=["rt"] }
 
 rp2040-boot2 = {version="0.2.0", optional = true }
 
+# Film scanner-specific stuff
+jerk_control = { path = "../jerk_control" }

firmware/film-scanner-fw/src/main.rs

@@ -4,6 +4,7 @@
 use defmt_rtt as _;
 use panic_probe as _;
 
+
 mod fmt;
 
 #[rtic::app(device = rp_pico::hal::pac, peripherals = true)]
@@ -11,6 +12,7 @@ mod app {
 
     use crate::fmt::Wrapper;
     use core::fmt::Write;
+    use core::num::Wrapping;
     use embedded_hal::digital::v2::OutputPin;
     use embedded_time::duration::Extensions;
 
@@ -24,6 +26,8 @@ mod app {
     // USB Communications Class Device support
     use usbd_serial::SerialPort;
 
+    use jerk_control::{planner, executor};
+
     // Blinck time 5 seconds
     const SCAN_TIME_US: u32 = 5000000; //  200000; // 5000000;  // 1000000; // 200000;
 
@@ -49,11 +53,27 @@ mod app {
     // Mathias
     // https://github.com/mgottschlag/rp2040-usb-sound-card/blob/b8078b57361c1b08755e5ab5f9992c56457ec18b/src/main.rs#L188
     //
-    //
-    // Global Static variable, has to be written inside unsafe blocks.
-    // A reference can be obtained with as_ref() method.
 
 
+    /// A profile that is to be loaded at a certain point in time
+    struct PlannedProfile {
+        pub apply_time: Wrapping<u32>,
+        pub profile: planner::Profile,
+    }
+    /// Manages communication with the execution interrupt
+    struct StepperComm {
+        pub position_steps: Wrapping<u32>,
+        pub position_substep: Wrapping<u32>,
+        pub cur_time: Wrapping<u32>,
+        pub next_profile: Option<PlannedProfile>,
+        pub active: bool,
+    }
+
+    pub struct StepperProcess<Pin> {
+        pub executor: executor::CommandQueue,
+        pub pin: Pin,
+    }
+
     #[shared]
     struct Shared {
 
@@ -70,7 +90,9 @@ mod app {
     }
 
     #[local]
-    struct Local {}
+    struct Local {
+        executor1: StepperProcess<rp_pico::hal::gpio::Pin<hal::gpio::pin::bank0::>>,
+    }
 
     #[init(local = [usb_bus: Option<usb_device::bus::UsbBusAllocator<hal::usb::UsbBus>> = None])]
     fn init(c: init::Context) -> (Shared, Local, init::Monotonics) {
@@ -164,7 +186,7 @@ mod app {
     /// Task that blinks the rp-pico onboard LED and that send a message "LED ON!" and "LED OFF!" do USB-Serial.
     #[task(
         binds = TIMER_IRQ_0,
-        priority = 1,
+        priority = 4,
         shared = [timer, alarm, serial],
         local = [tog: bool = true],
     )]

firmware/jerk_control/src/executor.rs

@@ -1,5 +1,6 @@
-use std::cmp::Ordering;
-use std::num::Wrapping;
+use core::cmp::Ordering;
+use core::num::Wrapping;
+use core::option::Option;
 use crate::planner::{Profile, Segment};
 
 #[derive(Default, Debug)]
@@ -75,4 +76,4 @@ impl CommandQueue {
     pub fn time(&self) -> u32 {
         self.cur_time.0
     }
-}
+}

firmware/jerk_control/src/planner.rs

@@ -3,7 +3,7 @@
 //! Note that the equations in this file are rather complex and non-obvious.
 //! All of their derivations can be found in the motion-control.ipynb file.
 
-use std::num::Wrapping;
+use core::num::Wrapping;
 
 pub struct Config {
     /// Max jerk, in mm/s^3
@@ -244,4 +244,4 @@ impl Planner {
 
     pub fn step_size(&self) -> u32 { self.step_size }
 
-}
+}