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| 1 | +#![no_std] |
| 2 | +#![no_main] |
| 3 | + |
| 4 | +// https://shop.m5stack.com/products/m5stack-cores3-esp32s3-lotdevelopment-kit |
| 5 | + |
| 6 | +use spi_dma_displayinterface::spi_dma_displayinterface; |
| 7 | + |
| 8 | +use embedded_graphics::{ |
| 9 | + mono_font::{ascii::FONT_8X13, MonoTextStyle}, |
| 10 | + prelude::{Point, RgbColor}, |
| 11 | + text::Text, |
| 12 | + Drawable, |
| 13 | +}; |
| 14 | + |
| 15 | +use hal::{ |
| 16 | + clock::{ClockControl, CpuClock}, |
| 17 | + dma::DmaPriority, |
| 18 | + gdma::Gdma, |
| 19 | + i2c, |
| 20 | + peripherals::Peripherals, |
| 21 | + prelude::*, |
| 22 | + spi::{ |
| 23 | + master::{prelude::*, Spi}, |
| 24 | + SpiMode, |
| 25 | + }, |
| 26 | + Delay, Rng, IO, gpio::PushPull, |
| 27 | +}; |
| 28 | + |
| 29 | +use esp_backtrace as _; |
| 30 | +use log::info; |
| 31 | + |
| 32 | +#[cfg(feature = "mpu9250")] |
| 33 | +use mpu9250::{ImuMeasurements, Mpu9250}; |
| 34 | + |
| 35 | +#[cfg(feature = "mpu6050")] |
| 36 | +use mpu6050::Mpu6050; |
| 37 | + |
| 38 | +#[cfg(feature = "mpu6886")] |
| 39 | +use mpu6886::Mpu6886; |
| 40 | + |
| 41 | +use spooky_core::engine::Engine; |
| 42 | + |
| 43 | +use shared_bus::BusManagerSimple; |
| 44 | + |
| 45 | +use embedded_hal::digital::v2::OutputPin; |
| 46 | + |
| 47 | +use spooky_embedded::{ |
| 48 | + app::app_loop, |
| 49 | + controllers::{ |
| 50 | + accel::AccelMovementController, |
| 51 | + composites::accel_composite::AccelCompositeController |
| 52 | + }, |
| 53 | + embedded_display::{LCD_H_RES, LCD_V_RES, LCD_MEMORY_SIZE}, |
| 54 | +}; |
| 55 | + |
| 56 | +use axp2101::{ I2CPowerManagementInterface, Axp2101 }; |
| 57 | +use aw9523::I2CGpioExpanderInterface; |
| 58 | + |
| 59 | +#[entry] |
| 60 | +fn main() -> ! { |
| 61 | + let peripherals = Peripherals::take(); |
| 62 | + |
| 63 | + let system = peripherals.SYSTEM.split(); |
| 64 | + let clocks = ClockControl::configure(system.clock_control, CpuClock::Clock160MHz).freeze(); |
| 65 | + |
| 66 | + esp_println::logger::init_logger_from_env(); |
| 67 | + |
| 68 | + let mut delay = Delay::new(&clocks); |
| 69 | + |
| 70 | + let io = IO::new(peripherals.GPIO, peripherals.IO_MUX); |
| 71 | + |
| 72 | + |
| 73 | + let lcd_sclk = io.pins.gpio36; |
| 74 | + let lcd_mosi = io.pins.gpio37; |
| 75 | + let lcd_cs = io.pins.gpio3; |
| 76 | + let lcd_miso = io.pins.gpio17; // random unused pin |
| 77 | + let lcd_dc = io.pins.gpio35.into_push_pull_output(); |
| 78 | + let lcd_reset = io.pins.gpio15.into_push_pull_output(); |
| 79 | + |
| 80 | + // I2C |
| 81 | + let sda = io.pins.gpio12; |
| 82 | + let scl = io.pins.gpio11; |
| 83 | + |
| 84 | + let dma = Gdma::new(peripherals.DMA); |
| 85 | + let dma_channel = dma.channel0; |
| 86 | + |
| 87 | + let mut descriptors = [0u32; 8 * 3]; |
| 88 | + let mut rx_descriptors = [0u32; 8 * 3]; |
| 89 | + |
| 90 | + let i2c_bus = i2c::I2C::new( |
| 91 | + peripherals.I2C0, |
| 92 | + sda, |
| 93 | + scl, |
| 94 | + 400u32.kHz(), |
| 95 | + &clocks, |
| 96 | + ); |
| 97 | + |
| 98 | + let bus = BusManagerSimple::new(i2c_bus); |
| 99 | + |
| 100 | + info!("Initializing AXP2101"); |
| 101 | + let axp_interface = I2CPowerManagementInterface::new(bus.acquire_i2c()); |
| 102 | + let mut axp = Axp2101::new(axp_interface); |
| 103 | + axp.init().unwrap(); |
| 104 | + |
| 105 | + info!("Initializing GPIO Expander"); |
| 106 | + let aw_interface = I2CGpioExpanderInterface::new(bus.acquire_i2c()); |
| 107 | + let mut aw = aw9523::Aw9523::new(aw_interface); |
| 108 | + aw.init().unwrap(); |
| 109 | + |
| 110 | + // M5Stack CORE 2 - https://docs.m5stack.com/en/core/core2 |
| 111 | + // let mut backlight = io.pins.gpio3.into_push_pull_output(); |
| 112 | + delay.delay_ms(500u32); |
| 113 | + info!("About to initialize the SPI LED driver"); |
| 114 | + |
| 115 | + let spi = Spi::new( |
| 116 | + peripherals.SPI3, |
| 117 | + lcd_sclk, |
| 118 | + lcd_mosi, |
| 119 | + lcd_miso, |
| 120 | + lcd_cs, |
| 121 | + 20u32.MHz(), |
| 122 | + SpiMode::Mode0, |
| 123 | + &clocks, |
| 124 | + ) .with_dma(dma_channel.configure( |
| 125 | + false, |
| 126 | + &mut descriptors, |
| 127 | + &mut rx_descriptors, |
| 128 | + DmaPriority::Priority0, |
| 129 | + )); |
| 130 | + |
| 131 | + delay.delay_ms(500u32); |
| 132 | + // backlight.set_high().unwrap(); |
| 133 | + |
| 134 | + //https://github.com/m5stack/M5CoreS3/blob/main/src/utility/Config.h#L8 |
| 135 | + let di = spi_dma_displayinterface::new_no_cs(LCD_MEMORY_SIZE, spi, lcd_dc); |
| 136 | + |
| 137 | + let mut display = mipidsi::Builder::ili9342c_rgb565(di) |
| 138 | + .with_display_size(320, 240) |
| 139 | + .with_color_order(mipidsi::ColorOrder::Bgr) |
| 140 | + .with_invert_colors(mipidsi::ColorInversion::Inverted) |
| 141 | + .init(&mut delay, Some(lcd_reset)) |
| 142 | + .unwrap(); |
| 143 | + delay.delay_ms(500u32); |
| 144 | + info!("Initializing..."); |
| 145 | + Text::new( |
| 146 | + "Initializing...", |
| 147 | + Point::new(80, 110), |
| 148 | + MonoTextStyle::new(&FONT_8X13, RgbColor::WHITE), |
| 149 | + ) |
| 150 | + .draw(&mut display) |
| 151 | + .unwrap(); |
| 152 | + |
| 153 | + |
| 154 | + // #[cfg(any(feature = "mpu9250"))] |
| 155 | + // let mut icm = Mpu9250::imu_default(bus.acquire_i2c(), &mut delay).unwrap(); |
| 156 | + |
| 157 | + // #[cfg(any(feature = "mpu6050"))] |
| 158 | + // let mut icm = Mpu6050::new(bus.acquire_i2c()); |
| 159 | + |
| 160 | + // let icm_inner = Mpu6886::new(bus.acquire_i2c()); |
| 161 | + // let icm = Mpu6886Wrapper::new(icm_inner); |
| 162 | + // let is_imu_enabled = match icm.init(&mut delay) { |
| 163 | + // Ok(_) => true, |
| 164 | + // Err(_) => false, |
| 165 | + // }; |
| 166 | + |
| 167 | + |
| 168 | + let mut rng = Rng::new(peripherals.RNG); |
| 169 | + let mut seed_buffer = [0u8; 32]; |
| 170 | + rng.read(&mut seed_buffer).unwrap(); |
| 171 | + |
| 172 | + let demo_movement_controller = spooky_core::demo_movement_controller::DemoMovementController::new(seed_buffer); |
| 173 | + let movement_controller = demo_movement_controller; |
| 174 | + |
| 175 | + info!("Entering main loop"); |
| 176 | + app_loop(&mut display, seed_buffer, movement_controller); |
| 177 | + loop {} |
| 178 | + |
| 179 | +} |
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