//! This example test the RP Pico on board LED. //! //! It does not work with the RP Pico W board. See wifi_blinky.rs. #![no_std] #![no_main] mod config; mod filter; mod gcc_hid; mod helpers; mod input; mod input_filter; mod stick; use config::config_task; use defmt::{debug, info}; use embassy_executor::Executor; use embassy_rp::{ bind_interrupts, flash::{Async, Flash}, gpio::{self, AnyPin, Input}, multicore::{spawn_core1, Stack}, peripherals::USB, spi::{self, Spi}, usb::{Driver, InterruptHandler}, }; use gcc_hid::usb_transfer_task; use gpio::{Level, Output}; use input::{update_button_state_task, update_stick_states_task}; use static_cell::StaticCell; use crate::config::enter_config_mode_task; use crate::gcc_hid::rumble_task; use {defmt_rtt as _, panic_probe as _}; static mut CORE1_STACK: Stack<4096> = Stack::new(); static EXECUTOR0: StaticCell = StaticCell::new(); static EXECUTOR1: StaticCell = StaticCell::new(); const FLASH_SIZE: usize = 2 * 1024 * 1024; const ADDR_OFFSET: u32 = 0x100000; bind_interrupts!(struct Irqs { USBCTRL_IRQ => InterruptHandler; }); #[cortex_m_rt::entry] fn main() -> ! { info!("Initializing"); let p = embassy_rp::init(Default::default()); let driver = Driver::new(p.USB, Irqs); // reading and writing from flash has to be done on the main thread, else funny things happen. let mut flash = Flash::<_, Async, FLASH_SIZE>::new(p.FLASH, p.DMA_CH0); let mut uid = [0u8; 8]; flash.blocking_unique_id(&mut uid).unwrap(); let mosi = p.PIN_7; let miso = p.PIN_4; let spi_clk = p.PIN_6; let p_acs = p.PIN_24; let p_ccs = p.PIN_23; let mut spi_cfg = spi::Config::default(); spi_cfg.frequency = 3000 * 1000; let spi = Spi::new_blocking(p.SPI0, spi_clk, mosi, miso, spi_cfg); let spi_acs = Output::new(AnyPin::from(p_acs), Level::High); // active low let spi_ccs = Output::new(AnyPin::from(p_ccs), Level::High); // active low spawn_core1(p.CORE1, unsafe { &mut CORE1_STACK }, move || { let executor1 = EXECUTOR1.init(Executor::new()); debug!("Mana"); executor1.run(|spawner| { spawner.spawn(usb_transfer_task(uid, driver)).unwrap(); spawner.spawn(enter_config_mode_task()).unwrap(); spawner .spawn(rumble_task(p.PIN_25, p.PIN_29, p.PWM_CH4, p.PWM_CH6)) .unwrap(); // spawner.spawn(input_integrity_benchmark()).unwrap(); spawner .spawn(update_button_state_task( Input::new(AnyPin::from(p.PIN_20), gpio::Pull::Up), Input::new(AnyPin::from(p.PIN_17), gpio::Pull::Up), Input::new(AnyPin::from(p.PIN_16), gpio::Pull::Up), Input::new(AnyPin::from(p.PIN_11), gpio::Pull::Up), Input::new(AnyPin::from(p.PIN_9), gpio::Pull::Up), Input::new(AnyPin::from(p.PIN_10), gpio::Pull::Up), Input::new(AnyPin::from(p.PIN_8), gpio::Pull::Up), Input::new(AnyPin::from(p.PIN_22), gpio::Pull::Up), Input::new(AnyPin::from(p.PIN_21), gpio::Pull::Up), Input::new(AnyPin::from(p.PIN_18), gpio::Pull::Up), Input::new(AnyPin::from(p.PIN_19), gpio::Pull::Up), Input::new(AnyPin::from(p.PIN_5), gpio::Pull::Up), )) .unwrap() }); }); let executor0 = EXECUTOR0.init(Executor::new()); info!("Initialized."); executor0.run(|spawner| { // Config task has to run on core0 because it reads and writes to flash. spawner.spawn(config_task(flash)).unwrap(); spawner .spawn(update_stick_states_task(spi, spi_acs, spi_ccs)) .unwrap(); }); }