M1MacのRustでESP32をビルドして、M5Stackのジャイロセンサを読み取ってwebサーバーで配信してみた

rustup toolchain install nightly --component rust-src

cargo install cargo-generate

cargo generate esp-rs/esp-idf-template cargo
# プロンプトには以下のように回答
# ✔ 🤷   Which MCU to target? · esp32
# ✔ 🤷   Configure advanced template options? · false

# プログラムをM5Stackに送るためのコマンド。
# espflashではなくcargo-espflashをインストールするとうまく動かなかった
cargo install espflash

cargo install espup
cargo install ldproxy

. ~/export-esp.sh
cargo build

float gyroX, gyroY, gyroZ;
M5.IMU.getGyroData(&gyroX,&gyroY,&gyroZ);

/*
Copyright 2023 morimorikochan

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.


Copyright 2022 Ferrous Systems GmbH

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
https://github.com/esp-rs/std-training/blob/main/LICENSE-MIT.txt
*/
use anyhow::Result;
use core::str;
use esp_idf_hal::{
    i2c::{I2cConfig, I2cDriver},
    prelude::*, delay::BLOCK,
};
use esp_idf_svc::{
    eventloop::EspSystemEventLoop, http::server::{EspHttpServer, Configuration},
};
use std::{
    sync::{Arc, Mutex},
    thread::sleep,
    time::Duration,
};
use embedded_svc::http::Method;
use wifi::wifi;

use esp_idf_sys as _;


#[toml_cfg::toml_config]
pub struct Config {
    #[default("")]
    wifi_ssid: &'static str,
    #[default("")]
    wifi_psk: &'static str,
}

fn main() -> Result<()> {
    esp_idf_sys::link_patches();
    esp_idf_svc::log::EspLogger::initialize_default();

    let peripherals = Peripherals::take().unwrap();
    let sysloop = EspSystemEventLoop::take()?;

    // Initialize temperature sensor
    let sda = peripherals.pins.gpio21;
    let scl = peripherals.pins.gpio22;
    let i2c = peripherals.i2c0;
    let config = I2cConfig::new().baudrate(100.kHz().into());
    let mut i2c = I2cDriver::new(i2c, sda, scl, &config)?;
    // The constant `CONFIG` is auto-generated by `toml_config`.
    let app_config = CONFIG;

    // Connect to the Wi-Fi network
    let _wifi = wifi(
        app_config.wifi_ssid,
        app_config.wifi_psk,
        peripherals.modem,
        sysloop,
    )?;
  
    let MPU6886_ADDRESS = 0x68;

    i2c.write(MPU6886_ADDRESS, &[0x6B, 0x00], BLOCK)?;
    sleep(Duration::from_millis(10));

    i2c.write(MPU6886_ADDRESS, &[0x6B, (0x01 << 7)], BLOCK)?;
    sleep(Duration::from_millis(10));

    i2c.write(MPU6886_ADDRESS, &[0x6B, 0x01], BLOCK)?;
    sleep(Duration::from_millis(10));

    // +- 8g
    i2c.write(MPU6886_ADDRESS, &[0x1C, 0x10], BLOCK)?;
    sleep(Duration::from_millis(1));

    // +- 2000 dps
    i2c.write(MPU6886_ADDRESS, &[0x1B, 0x18], BLOCK)?;
    sleep(Duration::from_millis(1));

    // 1khz output
    i2c.write(MPU6886_ADDRESS, &[0x1A, 0x01], BLOCK)?;
    sleep(Duration::from_millis(1));

    // 2 div, FIFO 500hz out
    i2c.write(MPU6886_ADDRESS, &[0x19, 0x01], BLOCK)?;
    sleep(Duration::from_millis(1));

    i2c.write(MPU6886_ADDRESS, &[0x38, 0x00], BLOCK)?;
    sleep(Duration::from_millis(1));

    i2c.write(MPU6886_ADDRESS, &[0x1D, 0x00], BLOCK)?;
    sleep(Duration::from_millis(1));

    i2c.write(MPU6886_ADDRESS, &[0x6A, 0x00], BLOCK)?;
    sleep(Duration::from_millis(1));

    i2c.write(MPU6886_ADDRESS, &[0x23, 0x00], BLOCK)?;
    sleep(Duration::from_millis(1));

    i2c.write(MPU6886_ADDRESS, &[0x37, 0x22], BLOCK)?;
    sleep(Duration::from_millis(1));

    i2c.write(MPU6886_ADDRESS, &[0x38, 0x01], BLOCK)?;
    sleep(Duration::from_millis(10));

    let convert = |a: u8, b: u8| {
        let mut result = (a as u16) << 8;
        result += b as u16;
        result as i16
    };
   
    let mut _buffer = Arc::new(Mutex::new([0u8; 6]));

    println!("Server preparing..");

    let mut server: EspHttpServer= EspHttpServer::new(&Configuration::default())?;

    let _buffer_cloned = Arc::clone(&_buffer);
    let _convert_cloned = convert.clone();
    server.fn_handler("/", Method::Get, move |request| {
        let mut response = request.into_ok_response()?;
        let buffer = _buffer_cloned.lock().expect("cannot get lock...");
        response.write(templated(format!("<li><ul>x: {}</ul><ul>y: {}</ul><ul>z: {}</ul></li>", _convert_cloned(buffer[0], buffer[1]),_convert_cloned(buffer[2], buffer[3]), _convert_cloned(buffer[4], buffer[5]))).as_bytes())?;
        response.flush()?;
        Ok(())
    })?;

    println!("Server awaiting connection");

    loop {
        i2c.write(0x68, &[0x3B], BLOCK).unwrap();
        sleep(Duration::from_millis(10));

        let mut buffer = _buffer.lock().expect("cannot get lock on write data...");
        i2c.read(MPU6886_ADDRESS, &mut *buffer, BLOCK)?;
        // for n in 0..6 {
        //     print!("[{:x}]",buffer[n]);
        // }
        println!("{},{},{}", convert(buffer[0], buffer[1]),convert(buffer[2], buffer[3]), convert(buffer[4], buffer[5]));
    }
}

fn templated(content: impl AsRef<str>) -> String {
    format!(
        r#"
<!DOCTYPE html>
<html>
    <head>
        <meta charset="utf-8">
        <title>esp-rs web server</title>
    </head>
    <body>
        {}
    </body>
</html>
"#,
        content.as_ref()
    )
}

fn index_html() -> String {
    templated("Hello from mcu!")
}

fn temperature(val: f32) -> String {
    templated(format!("chip temperature: {:.2}°C", val))
}

E (137) esp_image: Segment 0 0x3c050020-0x3c05fff8 invalid: bad load address range

[build]
target = "xtensa-esp32-espidf"

[target.xtensa-esp32-espidf]
linker = "ldproxy"
runner = "espflash flash --monitor" # Select this runner for espflash v2.x.x

[unstable]
build-std = ["std", "panic_abort"]

[env]
# Note: these variables are not used when using pio builder (`cargo build --features pio`)
ESP_IDF_VERSION = "v4.4.6"