implemented measurement and display tasks

src/init/i2c_sensor.rs

@@ -7,11 +7,13 @@ use mmc56x3::MMC56X3;
 
 use crate::init::sbc::Irqs;
 
+pub type MagSensor = MMC56X3<I2c<'static, I2C1, Async>, embassy_time::Delay>;
+
 pub async fn init_sensor(
     i2c: Peri<'static, embassy_rp::peripherals::I2C1>,
     sda: Peri<'static, embassy_rp::peripherals::PIN_14>,
     scl: Peri<'static, embassy_rp::peripherals::PIN_15>,
-) -> Result<MMC56X3<I2c<'static, I2C1, Async>, embassy_time::Delay>, mmc56x3::Error<i2c::Error>> {
+) -> Result<MagSensor, mmc56x3::Error<i2c::Error>> {
     let i2c = I2c::new_async(i2c, scl, sda, Irqs, i2c::Config::default());
 
     let mut device = MMC56X3::new(i2c, embassy_time::Delay);

src/init/spi_display.rs

@@ -1,19 +1,29 @@
 use embassy_rp::{
     Peri,
     gpio::{Level, Output},
-    spi::{self, Spi},
+    peripherals::SPI0,
+    spi::{self, Blocking, Spi},
 };
 use embassy_time::Timer;
-use embedded_graphics::{pixelcolor::Rgb565, prelude::DrawTarget};
-use embedded_hal_bus::spi::ExclusiveDevice;
+use embedded_hal_bus::spi::{ExclusiveDevice, NoDelay};
 use mipidsi::{
-    Builder,
+    Builder, Display, NoResetPin,
     interface::SpiInterface,
     models::ST7789,
     options::{Orientation, Rotation},
 };
 use static_cell::StaticCell;
 
+pub type SPIDisplay = Display<
+    SpiInterface<
+        'static,
+        ExclusiveDevice<Spi<'static, SPI0, Blocking>, Output<'static>, NoDelay>,
+        Output<'static>,
+    >,
+    ST7789,
+    NoResetPin,
+>;
+
 pub async fn init_display(
     inner: Peri<'static, embassy_rp::peripherals::SPI0>,
     clk: Peri<'static, embassy_rp::peripherals::PIN_6>,
@@ -21,7 +31,7 @@ pub async fn init_display(
     cs: Peri<'static, embassy_rp::peripherals::PIN_5>,
     dc: Peri<'static, embassy_rp::peripherals::PIN_9>,
     rst: Peri<'static, embassy_rp::peripherals::PIN_10>,
-) -> Result<impl DrawTarget<Color = Rgb565>, ()> {
+) -> Result<SPIDisplay, ()> {
     let mut spi_cfg = spi::Config::default();
     spi_cfg.frequency = 62_500_000;
 
@@ -43,13 +53,10 @@ pub async fn init_display(
 
     let di = SpiInterface::new(spi_dev, dc_display, buffer);
 
-    static DELAY: StaticCell<embassy_time::Delay> = StaticCell::new();
-    let delay = DELAY.init(embassy_time::Delay);
-
     let display = Builder::new(ST7789, di)
         .display_size(240, 320)
         .orientation(Orientation::new().rotate(Rotation::Deg90))
-        .init(delay)
+        .init(&mut embassy_time::Delay)
         .map_err(|_| ())?; // TODO: pass error
 
     Ok(display)

src/main.rs

@@ -2,28 +2,37 @@
 #![no_main]
 
 use embassy_executor::Spawner;
-use embassy_time::Timer;
+use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, channel::Channel};
+use embassy_time::{Duration, Timer};
 use embedded_graphics::draw_target::DrawTargetExt;
 use log::error;
 
-use crate::display::CoMoDisplay;
+use crate::{
+    display::CoMoDisplay,
+    init::{i2c_sensor::MagSensor, spi_display::SPIDisplay},
+};
 
 mod display;
 mod init;
 
+static SENSOR_CHANNEL: Channel<CriticalSectionRawMutex, mmc56x3::MagneticMessurement, 4> =
+    Channel::new();
+
+static DISPLAY_CHANNEL: Channel<CriticalSectionRawMutex, f32, 1> = Channel::new();
+
 #[embassy_executor::main]
 async fn main(spawner: Spawner) {
     let p = init::hardware_init();
     init::logger::init_logger(spawner, p.USB);
 
-    let Ok(mag) = init::i2c_sensor::init_sensor(p.I2C1, p.PIN_14, p.PIN_15).await else {
+    let Ok(mag_sens) = init::i2c_sensor::init_sensor(p.I2C1, p.PIN_14, p.PIN_15).await else {
         error!("Failed to init sensor");
 
         init::reboot().await;
         return;
     };
 
-    let Ok(mut display) =
+    let Ok(display) =
         init::spi_display::init_display(p.SPI0, p.PIN_6, p.PIN_7, p.PIN_5, p.PIN_9, p.PIN_10).await
     else {
         error!("Failed to init display");
@@ -32,10 +41,41 @@ async fn main(spawner: Spawner) {
         return;
     };
 
-    let mut como_display = CoMoDisplay::new(display.color_converted());
+    spawner.must_spawn(measure_task(mag_sens));
+    spawner.must_spawn(display_task(display));
 
-    como_display.draw();
-
-    Timer::after_secs(5).await;
+    Timer::after_secs(30).await;
     init::reboot().await;
 }
+
+#[embassy_executor::task]
+async fn measure_task(mut sensor: MagSensor) {
+    let sample_window = Duration::from_millis(500);
+
+    loop {
+        match sensor.read_messurement().await {
+            Ok(reading) => {
+                SENSOR_CHANNEL.send(reading).await;
+            }
+            Err(_) => {
+                error!("Failed to read measurement");
+            }
+        }
+
+        Timer::after(sample_window).await;
+    }
+}
+
+#[embassy_executor::task]
+async fn display_task(mut display: SPIDisplay) {
+    let mut como_display = CoMoDisplay::new(display.color_converted());
+    loop {
+        let _reading = DISPLAY_CHANNEL.receive().await;
+        match como_display.draw() {
+            Ok(_) => {}
+            Err(_) => {
+                error!("Failed to draw");
+            }
+        }
+    }
+}