feat: Embassy driver

.tangled/workflows/test.yml

···
+when:
+  - event: ["push", "pull_request"]
+    branch: main
+
+engine: nixery
+
+dependencies:
+  nixpkgs:
+    - clang
+    - cargo
+    - rustfmt
+    - protobuf
+    - cargo-nextest
+
+steps:
+  - name: Format check
+    command: cargo fmt --all --check
+  - name: Tests
+    command: cargo nextest run --workspace --locked --no-fail-fast
+  - name: Doc Tests
+    command: cargo test --workspace --locked --doc --no-fail-fast

Cargo.lock

···
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+authors = ["Sachy.dev <[e-mail]>"]
+edition = "2024"
+repository = "https://tangled.org/sachy.dev/strike-sensor"
+version = "0.1.0"
+license = "AGPL-3.0-only"
+rust-version = "1.91.0"
+
+[workspace.dependencies]
+embassy-time = "0.5"
+embassy-sync = "0.7"
+embassy-rp = "0.9"
+defmt = "1"

README.md

···
 
 The sensor designs can be found in the [kicad](./kicad) folder.
 
+## Driver
+
+Currently, the driver needs to be tested and coded according to how the new PCB/circuit behaves, so this will require a bit of work before considered "ready".
+
 ## Licenses
 
-The sensor hardware designs are licensed under the [CERN Open Hardware Licence Version 2 - Strongly Reciprocal](./kicad/LICENSE-CERN-OHL-S) license.
+The sensor hardware designs are licensed under the [CERN Open Hardware Licence Version 2 - Strongly Reciprocal](./kicad/LICENSE-CERN-OHL-S) license. ⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁤⁢⁢⁢⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁤⁤⁤⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁤⁤⁤⁤⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁢⁤⁤⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁤⁤⁤⁤⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁢⁤⁤⁤⁢⁤⁢⁤⁤⁤⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁢⁤⁤⁤⁢⁤⁢⁢⁢⁤⁤⁤⁢⁤⁢⁢⁢⁤⁢⁤⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁤⁤⁤⁤⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁤⁤⁤⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁤⁢⁢⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁤⁢⁤⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁢⁤⁤⁤⁢⁤⁢⁤⁤⁤⁤⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁤⁢⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁢⁤⁤⁢⁢⁢⁤⁢⁢⁤⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁢⁢⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁤⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁢⁤⁢⁢⁤⁤⁢⁤⁤⁤⁢⁢⁤⁤⁢⁤⁤⁤⁢⁢⁤⁤⁢⁤⁤⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁤⁢⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁢⁤⁤⁤⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁤⁤⁤⁢⁢⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁤⁤⁤⁢⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁢⁤⁢⁢⁤⁤⁢⁢⁤⁢⁢⁢⁤⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁤⁤⁤⁢⁢⁢⁢⁢⁤⁤⁢⁢⁤⁢⁢⁢⁤⁤⁢⁤⁤⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁢⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁤⁢⁢⁢⁤⁤⁤⁢⁢⁢⁢⁢⁤⁤⁢⁤⁤⁤⁢⁢⁤⁤⁢⁤⁤⁢⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁤⁢⁤⁤⁢⁢⁢⁢⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁤⁤⁤⁤⁢⁢⁤⁢⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁢⁢⁢⁤⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁢⁢⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁤⁢⁤⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁤⁢⁤⁤⁤⁢⁢⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁤⁢⁤⁢⁢⁤⁢⁤⁤⁢⁢⁢⁢⁢⁤⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁢⁤⁢⁢⁢⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁤⁤⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁤⁢⁤⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁤⁢⁤⁤⁤⁢⁤⁤⁤⁤⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁤⁢⁤⁤⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁤⁢⁤⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁤⁢⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁢⁤⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁢⁤⁢⁤⁤⁢⁤⁢⁤⁢⁢⁢⁤⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁤⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁢⁢⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁤⁤⁢⁤⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁤⁢

embassy-strike-driver/Cargo.toml

···
+[package]
+name = "embassy-strike-driver"
+authors.workspace = true
+edition.workspace = true
+repository.workspace = true
+version.workspace = true
+license.workspace = true
+rust-version.workspace = true
+
+[features]
+default = []
+alloc = []
+heapless = ["dep:heapless"]
+rp2040 = ["dep:embassy-rp", "embassy-rp/rp2040"]
+rp235xa = ["dep:embassy-rp", "embassy-rp/rp235xa"]
+rp235xb = ["dep:embassy-rp", "embassy-rp/rp235xb"]
+
+[dependencies]
+embassy-time.workspace = true
+embassy-sync.workspace = true
+embassy-rp = { workspace = true, optional = true }
+heapless = { version = "0.9.2", optional = true }
+
+[dev-dependencies]
+embassy-time = { workspace = true, features = ["mock-driver", "generic-queue-8"] }
+critical-section = { version = "1.1", features = ["std"] }
+pollster = { version = "0.4", features = ["macro"] }

embassy-strike-driver/src/analysis.rs

···
+use crate::{BLOCK_SIZE, traits::BufferMut};
+
+pub fn analyse_buffer_by_stepped_windows<B: BufferMut<usize>>(
+    threshold: u16,
+    buf: &[u16],
+    average: u16,
+    peaks: &mut B,
+) -> u16 {
+    const CHUNK_SIZE: usize = BLOCK_SIZE / 32;
+    const CHUNK_STEP: usize = CHUNK_SIZE / 2;
+
+    let mut total = 0u32;
+    let mut len = 0u32;
+
+    for (i, window) in buf.windows(CHUNK_SIZE).enumerate().step_by(CHUNK_STEP) {
+        let window_total = window.iter().copied().sum::<u16>();
+        let window_avg = window_total / CHUNK_SIZE as u16;
+        let diff = average.saturating_sub(window_avg);
+
+        if diff > threshold {
+            peaks.push(i);
+        } else {
+            total += window_total as u32;
+            len += CHUNK_SIZE as u32;
+        }
+    }
+
+    (total / len) as u16
+}

embassy-strike-driver/src/drivers.rs

···
+#[cfg(any(feature = "rp2040", feature = "rp235xa", feature = "rp235xb"))]
+pub mod rp {
+    use embassy_rp::{
+        Peri,
+        adc::{self, Adc, AdcPin, Async, InterruptHandler},
+        dma,
+        interrupt::typelevel::{ADC_IRQ_FIFO, Binding},
+        peripherals::ADC, pwm::{self, ChannelBPin, Pwm, Slice},
+    };
+    use embassy_sync::{blocking_mutex::raw::RawMutex, mutex::Mutex};
+
+    use crate::traits::{AdcSource, PwmSource};
+
+    struct AdcInner<'device, T: dma::Channel> {
+        adc: Adc<'device, Async>,
+        pin: adc::Channel<'device>,
+        dma: Peri<'device, T>,
+    }
+
+    pub struct RpAdcDriver<'device, M: RawMutex, T: dma::Channel> {
+        inner: Mutex<M, AdcInner<'device, T>>,
+    }
+
+    impl<T: dma::Channel> AdcInner<'_, T> {
+        /// Samples at 100Khz, or 10us per sample. If a sampling fails due to conversion error,
+        /// it tries again until the sampling succeeds.
+        async fn read_many(&mut self, buf: &mut [u16]) {
+            let mut retries: u32 = 5;
+
+            while self
+                .adc
+                .read_many(&mut self.pin, buf, 480, self.dma.reborrow())
+                .await
+                .is_err()
+            {
+                retries -= 1;
+
+                if retries == 0 {
+                    panic!("ADC not configured or connected correctly.");
+                }
+            }
+        }
+    }
+
+    impl<'device, M: RawMutex, T: dma::Channel> RpAdcDriver<'device, M, T> {
+        pub fn new(
+            inner: Peri<'device, ADC>,
+            pin: Peri<'device, impl AdcPin + 'device>,
+            dma: Peri<'device, T>,
+            irqs: impl Binding<ADC_IRQ_FIFO, InterruptHandler>,
+        ) -> Self {
+            Self {
+                inner: Mutex::new(AdcInner {
+                    adc: Adc::new(inner, irqs, adc::Config::default()),
+                    pin: adc::Channel::new_pin(pin, embassy_rp::gpio::Pull::None),
+                    dma,
+                }),
+            }
+        }
+    }
+
+    impl<'device, M: RawMutex, T: dma::Channel> AdcSource for RpAdcDriver<'device, M, T> {
+        async fn sample_average(&self, samples: &mut [u16]) -> u16 {
+            self.sample(samples).await;
+
+            let len = samples.len() as u32;
+
+            (samples.iter().copied().map(u32::from).sum::<u32>() / len) as u16
+        }
+
+        async fn sample(&self, samples: &mut [u16]) {
+            self.inner.lock().await.read_many(samples).await;
+        }
+    }
+
+    pub struct PwmDriver<'device> {
+        config: pwm::Config,
+        pwm: Pwm<'device>,
+    }
+
+    impl<'device> PwmDriver<'device> {
+        pub fn new<T>(
+            slice: Peri<'device, T>,
+            b: Peri<'device, impl ChannelBPin<T>>,
+        ) -> Self
+        where
+            T: Slice,
+        {
+            let mut config = pwm::Config::default();
+            config.top = u8::MAX as u16;
+            let pwm = Pwm::new_output_b(slice, b, config.clone());
+
+            Self { pwm, config }
+        }
+    }
+
+    impl PwmSource for PwmDriver<'_> {
+        fn set_duty(&mut self, duty: u16) {
+            self.config.compare_b = duty.clamp(0, self.config.top);
+            self.pwm.set_config(&self.config);
+        }
+
+        fn enable(&mut self) {
+            self.config.enable = true;
+            self.pwm.set_config(&self.config);
+        }
+
+        fn disable(&mut self) {
+            self.config.enable = false;
+            self.pwm.set_config(&self.config);
+        }
+    }
+
+    impl Drop for PwmDriver<'_> {
+        fn drop(&mut self) {
+            self.disable();
+        }
+    }
+}

embassy-strike-driver/src/lib.rs

···
+//! A generalised Embassy driver for the Strike Sensor v1
+//! ⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁤⁢⁢⁢⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁤⁤⁤⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁤⁤⁤⁤⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁢⁤⁤⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁤⁤⁤⁤⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁢⁤⁤⁤⁢⁤⁢⁤⁤⁤⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁢⁤⁤⁤⁢⁤⁢⁢⁢⁤⁤⁤⁢⁤⁢⁢⁢⁤⁢⁤⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁤⁤⁤⁤⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁤⁤⁤⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁤⁢⁢⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁤⁢⁤⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁢⁤⁤⁤⁢⁤⁢⁤⁤⁤⁤⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁤⁢⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁢⁤⁤⁢⁢⁢⁤⁢⁢⁤⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁢⁢⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁤⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁢⁤⁢⁢⁤⁤⁢⁤⁤⁤⁢⁢⁤⁤⁢⁤⁤⁤⁢⁢⁤⁤⁢⁤⁤⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁤⁢⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁢⁤⁤⁤⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁤⁤⁤⁢⁢⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁤⁤⁤⁢⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁢⁤⁢⁢⁤⁤⁢⁢⁤⁢⁢⁢⁤⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁤⁤⁤⁢⁢⁢⁢⁢⁤⁤⁢⁢⁤⁢⁢⁢⁤⁤⁢⁤⁤⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁢⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁤⁢⁢⁢⁤⁤⁤⁢⁢⁢⁢⁢⁤⁤⁢⁤⁤⁤⁢⁢⁤⁤⁢⁤⁤⁢⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁤⁢⁤⁤⁢⁢⁢⁢⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁤⁤⁤⁤⁢⁢⁤⁢⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁢⁢⁢⁤⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁢⁢⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁤⁢⁤⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁤⁢⁤⁤⁤⁢⁢⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁤⁢⁤⁢⁢⁤⁢⁤⁤⁢⁢⁢⁢⁢⁤⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁢⁤⁢⁢⁢⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁤⁤⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁤⁢⁤⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁤⁢⁤⁤⁤⁢⁤⁤⁤⁤⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁤⁢⁤⁤⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁤⁢⁤⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁤⁢⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁢⁤⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁢⁤⁢⁤⁤⁢⁤⁢⁤⁢⁢⁢⁤⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁤⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁢⁢⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁤⁤⁢⁤⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁤⁢
+#![no_std]
+
+#[cfg(feature = "alloc")]
+extern crate alloc;
+
+mod analysis;
+pub mod drivers;
+pub mod traits;
+
+use core::cell::Cell;
+
+use embassy_sync::{
+    blocking_mutex::raw::NoopRawMutex,
+    zerocopy_channel::{Channel, Receiver, Sender},
+};
+use embassy_time::{Duration, Instant, Ticker, Timer};
+
+use crate::traits::{AdcSource, BufferMut, PwmSource, TimeSource};
+
+pub const BLOCK_SIZE: usize = 512;
+pub type ZeroCopyChannel<'device> = Channel<'device, NoopRawMutex, (i64, [u16; BLOCK_SIZE])>;
+
+#[derive(Debug)]
+struct DetectorState {
+    max_duty: Cell<u8>,
+    duty: Cell<u8>,
+    avg: Cell<u16>,
+    strikes: Cell<u16>,
+    warn_level: Cell<u16>,
+}
+
+impl Default for DetectorState {
+    fn default() -> Self {
+        Self {
+            max_duty: Cell::new(0),
+            duty: Cell::new(0),
+            avg: Cell::new(0),
+            strikes: Cell::new(0),
+            warn_level: Cell::new(255),
+        }
+    }
+}
+
+#[derive(Debug)]
+pub struct DetectorConfig {
+    blip_threshold: Cell<u16>,
+    blip_size: Cell<usize>,
+}
+
+impl Default for DetectorConfig {
+    fn default() -> Self {
+        Self {
+            blip_threshold: Cell::new(14),
+            blip_size: Cell::new(2),
+        }
+    }
+}
+
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+pub enum DetectorUpdate<'a> {
+    Tick {
+        timestamp: i64,
+        level: u16,
+    },
+    Detection {
+        timestamp: i64,
+        samples: &'a [u16],
+        peaks: &'a [usize],
+    },
+}
+
+pub struct DetectorDriver<T: TimeSource, P: PwmSource, A: AdcSource> {
+    state: DetectorState,
+    config: DetectorConfig,
+    timer_source: T,
+    pwm: P,
+    adc: A,
+}
+
+impl<T, P, A> DetectorDriver<T, P, A>
+where
+    T: TimeSource,
+    P: PwmSource,
+    A: AdcSource,
+{
+    pub fn new(config: DetectorConfig, timer_source: T, pwm: P, adc: A) -> Self {
+        Self {
+            state: Default::default(),
+            config,
+            timer_source,
+            pwm,
+            adc,
+        }
+    }
+
+    pub fn reset_timer_source(&mut self) {
+        self.timer_source = T::get_source();
+    }
+
+    pub fn get_timestamp(&self) -> i64 {
+        self.timer_source.timestamp()
+    }
+
+    pub fn set_blip_threshold(&self, threshold: u16) {
+        self.config.blip_threshold.set(threshold);
+    }
+
+    pub fn set_blip_size(&self, size: usize) {
+        self.config.blip_size.set(size);
+    }
+
+    pub async fn tune(&mut self, samples: &mut [u16]) {
+        // info!("Tuning Detector for correct voltage settings");
+        let mut duty = 0;
+        self.pwm.set_duty(duty);
+        Timer::after_secs(2).await;
+        let mut act_value = self.adc.sample_average(samples).await;
+
+        // info!("initial ACT: {}", act_value);
+
+        while act_value < 1364 {
+            duty += 2;
+            if duty >= 256 {
+                duty = 0;
+                self.pwm.set_duty(duty);
+                Timer::after_secs(2).await;
+                act_value = self.adc.sample_average(samples).await;
+                // info!("Restarting tuning");
+                continue;
+            }
+            self.pwm.set_duty(duty);
+            Timer::after_millis(250).await;
+            act_value = self.adc.sample_average(samples).await;
+            // info!("ACT: {}, Duty: {}", act_value, duty);
+        }
+        self.state.max_duty.set(duty as u8);
+        duty = (duty / 3) * 2;
+        self.pwm.set_duty(duty);
+        self.state.duty.set(duty as u8);
+        // info!("Set detection duty to: {}", duty);
+        // Allow voltage level to stabilize after tuning
+        Timer::after_secs(2).await;
+        let avg = self.adc.sample_average(samples).await;
+        self.state.avg.set(avg);
+    }
+
+    /// Samples and returns an `i64` timestamp.
+    pub async fn sample_with_zerocopy<'a>(
+        &self,
+        dma: &mut Sender<'a, NoopRawMutex, (i64, [u16; BLOCK_SIZE])>,
+    ) {
+        loop {
+            let (time, samples) = dma.send().await;
+            *time = self.timer_source.timestamp();
+            self.adc.sample(samples).await;
+            dma.send_done();
+        }
+    }
+
+    pub fn detect_from_sample<B, F>(
+        &self,
+        timestamp: i64,
+        samples: &[u16],
+        peaks: &mut B,
+        update: F,
+    ) where
+        B: BufferMut<usize>,
+        F: Fn(DetectorUpdate<'_>),
+    {
+        peaks.clear();
+
+        let new_avg = analysis::analyse_buffer_by_stepped_windows(
+            self.config.blip_threshold.get(),
+            samples,
+            self.state.avg.get(),
+            peaks,
+        );
+
+        let blips = peaks.len();
+
+        if blips >= self.config.blip_size.get() {
+            self.state
+                .strikes
+                .update(|strike| strike.saturating_add(32));
+
+            update(DetectorUpdate::Detection {
+                timestamp,
+                samples,
+                peaks: peaks.as_slice(),
+            });
+        }
+
+        self.state.avg.set(new_avg);
+    }
+
+    pub async fn detect_with_zerocopy<'a, 'd, B, F>(
+        &self,
+        dma: &mut Receiver<'a, NoopRawMutex, (i64, [u16; BLOCK_SIZE])>,
+        peaks: &'d mut B,
+        update: F,
+    ) where
+        B: BufferMut<usize>,
+        F: Fn(DetectorUpdate<'_>),
+    {
+        loop {
+            let (timestamp, samples) = dma.receive().await;
+
+            self.detect_from_sample(*timestamp, samples, peaks, &update);
+
+            dma.receive_done();
+        }
+    }
+
+    pub async fn tick<F>(&self, update: F)
+    where
+        F: Fn(DetectorUpdate),
+    {
+        let mut inactive: Option<Instant> = None;
+        let mut interval = Ticker::every(Duration::from_secs(1));
+
+        loop {
+            interval.next().await;
+            let strikes = self.state.strikes.get();
+            let mut warn_level = self.state.warn_level.get();
+
+            if strikes > 32 {
+                warn_level = warn_level.saturating_add(strikes);
+            }
+
+            let decay = warn_level >> 8;
+
+            self.state.strikes.set(0);
+            self.state.warn_level.set(warn_level - decay);
+
+            match inactive {
+                Some(_) if decay > 0 => {
+                    inactive = None;
+                }
+                Some(val) if val.elapsed() >= Duration::from_secs(3600) => break,
+                None if decay == 0 => {
+                    inactive = Some(Instant::now());
+                }
+                None => {
+                    update(DetectorUpdate::Tick {
+                        timestamp: self.timer_source.timestamp(),
+                        level: warn_level - 255,
+                    });
+                }
+                _ => continue,
+            }
+        }
+    }
+}
+
+#[cfg(test)]
+mod tests {
+    use core::future::poll_fn;
+    use embassy_time::MockDriver;
+
+    #[cfg(not(feature = "alloc"))]
+    extern crate alloc;
+    use super::*;
+
+    #[derive(Debug, Default)]
+    struct MockMachine {
+        pwm: Cell<u16>,
+    }
+
+    impl MockMachine {
+        fn adc_sample_avg(&self) -> u16 {
+            self.pwm.get().saturating_mul(14)
+        }
+    }
+
+    struct MockPwm<'a>(&'a MockMachine);
+
+    impl PwmSource for MockPwm<'_> {
+        fn set_duty(&mut self, duty: u16) {
+            self.0.pwm.set(duty);
+        }
+
+        // These do nothing
+        fn enable(&mut self) {}
+        fn disable(&mut self) {}
+    }
+
+    struct MockAdc<'a>(&'a MockMachine);
+
+    impl AdcSource for MockAdc<'_> {
+        async fn sample(&self, samples: &mut [u16]) {
+            samples.fill(self.0.adc_sample_avg());
+        }
+
+        async fn sample_average(&self, _samples: &mut [u16]) -> u16 {
+            self.0.adc_sample_avg()
+        }
+    }
+
+    struct MockTimeSource;
+
+    impl TimeSource for MockTimeSource {
+        fn get_source() -> Self {
+            Self
+        }
+        fn timestamp(&self) -> i64 {
+            0
+        }
+    }
+
+    #[cfg(not(feature = "alloc"))]
+    impl BufferMut<usize> for alloc::vec::Vec<usize> {
+        fn push(&mut self, value: usize) {
+            self.push(value);
+        }
+
+        fn clear(&mut self) {
+            self.clear();
+        }
+
+        fn len(&self) -> usize {
+            self.len()
+        }
+
+        fn is_empty(&self) -> bool {
+            self.is_empty()
+        }
+
+        fn as_slice(&self) -> &[usize] {
+            self
+        }
+    }
+
+    async fn tune_detector_manually<'a>(
+        detector: &mut DetectorDriver<MockTimeSource, MockPwm<'a>, MockAdc<'a>>,
+        buf: &mut [u16],
+        driver: &MockDriver,
+    ) {
+        let mut tuning = core::pin::pin!(detector.tune(buf));
+
+        poll_fn(|cx| match tuning.as_mut().poll(cx) {
+            core::task::Poll::Ready(_) => core::task::Poll::Ready(()),
+            core::task::Poll::Pending => {
+                cx.waker().wake_by_ref();
+                driver.advance(Duration::from_secs(2));
+
+                core::task::Poll::Pending
+            }
+        })
+        .await;
+    }
+
+    fn generate_signal(samples: &mut [u16]) {
+        // Example voltage drop signal
+        samples[5] -= 60;
+        samples[6] -= 55;
+        samples[7] -= 50;
+        samples[8] -= 45;
+        samples[9] -= 40;
+        samples[10] -= 35;
+        samples[11] -= 30;
+        samples[12] -= 28;
+        samples[13] -= 26;
+        samples[14] -= 24;
+        samples[15] -= 22;
+        samples[16] -= 20;
+        samples[17] -= 18;
+        samples[18] -= 16;
+        samples[19] -= 14;
+        samples[20] -= 12;
+        samples[21] -= 11;
+        samples[22] -= 10;
+        samples[23] -= 9;
+        samples[24] -= 8;
+        samples[25] -= 7;
+        samples[26] -= 6;
+        samples[27] -= 5;
+        samples[28] -= 4;
+        samples[29] -= 3;
+        samples[30] -= 2;
+        samples[31] -= 1;
+    }
+
+    #[pollster::test]
+    async fn tuning_cycle_completes() {
+        let driver = embassy_time::MockDriver::get();
+        driver.reset();
+        let device = MockMachine::default();
+        let pwm = MockPwm(&device);
+        let adc = MockAdc(&device);
+
+        let mut detector = DetectorDriver::new(Default::default(), MockTimeSource, pwm, adc);
+        let mut buf = [0; 16];
+
+        tune_detector_manually(&mut detector, &mut buf, driver).await;
+
+        assert_eq!(detector.state.max_duty.get(), 98);
+        assert_eq!(detector.state.duty.get(), 64);
+        assert_eq!(detector.adc.sample_average(&mut buf).await, 896);
+    }
+
+    #[pollster::test]
+    async fn tick_updates_only_on_raised_levels() {
+        let driver = embassy_time::MockDriver::get();
+        driver.reset();
+        let device = MockMachine::default();
+        let pwm = MockPwm(&device);
+        let adc = MockAdc(&device);
+
+        let detector = DetectorDriver::new(Default::default(), MockTimeSource, pwm, adc);
+
+        detector.state.max_duty.set(98);
+        detector.state.duty.set(64);
+        detector.state.avg.set(896);
+
+        {
+            let mut tick = core::pin::pin!(detector.tick(|a| {
+                assert_eq!(
+                    a,
+                    DetectorUpdate::Tick {
+                        timestamp: 0,
+                        level: 300
+                    }
+                );
+            }));
+
+            poll_fn(|cx| match tick.as_mut().poll(cx) {
+                core::task::Poll::Ready(_) => core::task::Poll::Ready(()),
+                core::task::Poll::Pending => {
+                    if detector.state.warn_level.get() > 255 {
+                        return core::task::Poll::Ready(());
+                    }
+                    detector.state.strikes.set(300);
+                    driver.advance(Duration::from_secs(1));
+                    cx.waker().wake_by_ref();
+                    core::task::Poll::Pending
+                }
+            })
+            .await;
+        }
+
+        assert_eq!(detector.state.warn_level.get(), 553);
+    }
+
+    #[pollster::test]
+    async fn detection_updates_only_on_large_enough_signals() {
+        let driver = embassy_time::MockDriver::get();
+        driver.reset();
+        let device = MockMachine::default();
+        let pwm = MockPwm(&device);
+        let adc = MockAdc(&device);
+
+        let detector = DetectorDriver::new(Default::default(), MockTimeSource, pwm, adc);
+        detector.pwm.0.pwm.set(64);
+        detector.state.max_duty.set(98);
+        detector.state.duty.set(64);
+        detector.state.avg.set(896);
+
+        let mut samples = alloc::vec![0; BLOCK_SIZE];
+
+        detector.adc.sample(&mut samples).await;
+
+        samples[5] -= 3;
+        samples[6] -= 1;
+
+        let mut peaks = alloc::vec::Vec::with_capacity(512);
+
+        let update = |_update: DetectorUpdate<'_>| {
+            panic!("This update function shouldn't be called");
+        };
+
+        detector.detect_from_sample(0, &samples, &mut peaks, update);
+
+        assert_eq!(peaks.len(), 0);
+
+        generate_signal(&mut samples);
+
+        let expected_peaks = alloc::vec![0, 8];
+        let called = Cell::new(false);
+
+        let update = |update: DetectorUpdate<'_>| {
+            called.set(true);
+            assert_eq!(
+                update,
+                DetectorUpdate::Detection {
+                    timestamp: 0,
+                    samples: &samples,
+                    peaks: expected_peaks.as_slice()
+                }
+            )
+        };
+
+        detector.detect_from_sample(0, &samples, &mut peaks, update);
+
+        assert_eq!(peaks.len(), 2);
+        assert!(called.get());
+    }
+
+    #[pollster::test]
+    async fn detection_sensitivity_can_be_configured() {
+        let driver = embassy_time::MockDriver::get();
+        driver.reset();
+        let device = MockMachine::default();
+        let pwm = MockPwm(&device);
+        let adc = MockAdc(&device);
+
+        let detector = DetectorDriver::new(Default::default(), MockTimeSource, pwm, adc);
+        detector.pwm.0.pwm.set(64);
+        detector.state.max_duty.set(98);
+        detector.state.duty.set(64);
+        detector.state.avg.set(896);
+
+        let mut samples = alloc::vec![0; BLOCK_SIZE];
+        let mut peaks: alloc::vec::Vec<usize> = alloc::vec::Vec::with_capacity(BLOCK_SIZE);
+
+        // Require bigger size blips.
+        detector.config.blip_size.set(3);
+
+        detector.adc.sample(&mut samples).await;
+        generate_signal(&mut samples);
+
+        detector.detect_from_sample(0, &samples, &mut peaks, |_update| {
+            panic!("Update shouldn't be called");
+        });
+
+        assert_eq!(peaks.len(), 2);
+
+        // Require bigger threshold for blip detection
+        detector.config.blip_size.set(2);
+        detector.config.blip_threshold.set(24);
+
+        detector.detect_from_sample(0, &samples, &mut peaks, |_update| {
+            panic!("Update shouldn't be called");
+        });
+
+        // Update didn't call because detected blip wasn't big enough
+        assert_eq!(peaks.len(), 1);
+    }
+}

embassy-strike-driver/src/traits.rs

···
+pub trait TimeSource {
+    fn timestamp(&self) -> i64;
+    fn get_source() -> Self;
+}
+
+pub trait AdcSource {
+    fn sample_average(&self, samples: &mut [u16]) -> impl Future<Output = u16>;
+    fn sample(&self, samples: &mut [u16]) -> impl Future<Output = ()>;
+}
+
+pub trait PwmSource {
+    fn set_duty(&mut self, duty: u16);
+    fn enable(&mut self);
+    fn disable(&mut self);
+}
+
+/// A Mutable Buffer trait ⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁤⁢⁢⁢⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁤⁤⁤⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁤⁤⁤⁤⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁢⁤⁤⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁤⁤⁤⁤⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁢⁤⁤⁤⁢⁤⁢⁤⁤⁤⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁢⁤⁤⁤⁢⁤⁢⁢⁢⁤⁤⁤⁢⁤⁢⁢⁢⁤⁢⁤⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁤⁤⁤⁤⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁤⁤⁤⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁤⁢⁢⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁤⁢⁤⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁢⁤⁤⁤⁢⁤⁢⁤⁤⁤⁤⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁤⁢⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁢⁤⁤⁢⁢⁢⁤⁢⁢⁤⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁢⁢⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁤⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁢⁤⁢⁢⁤⁤⁢⁤⁤⁤⁢⁢⁤⁤⁢⁤⁤⁤⁢⁢⁤⁤⁢⁤⁤⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁤⁢⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁢⁤⁤⁤⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁤⁤⁤⁢⁢⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁤⁤⁤⁢⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁢⁤⁢⁢⁤⁤⁢⁢⁤⁢⁢⁢⁤⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁤⁤⁤⁢⁢⁢⁢⁢⁤⁤⁢⁢⁤⁢⁢⁢⁤⁤⁢⁤⁤⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁢⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁤⁢⁢⁤⁢⁢⁢⁤⁤⁤⁢⁢⁢⁢⁢⁤⁤⁢⁤⁤⁤⁢⁢⁤⁤⁢⁤⁤⁢⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁤⁢⁤⁤⁢⁢⁢⁢⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁤⁤⁤⁤⁢⁢⁤⁢⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁢⁢⁢⁤⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁢⁢⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁤⁢⁤⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁤⁢⁤⁤⁤⁢⁢⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁤⁢⁤⁢⁢⁤⁢⁤⁤⁢⁢⁢⁢⁢⁤⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁢⁤⁢⁢⁢⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁤⁤⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁤⁢⁤⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁤⁢⁤⁤⁤⁢⁤⁤⁤⁤⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁢⁢⁤⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁢⁢⁢⁤⁢⁤⁤⁢⁤⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁢⁤⁤⁤⁢⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁤⁢⁤⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁤⁢⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁢⁤⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁤⁢⁤⁢⁢⁤⁤⁢⁤⁢⁤⁢⁤⁢⁢⁢⁢⁤⁢⁤⁤⁢⁤⁢⁤⁢⁢⁢⁤⁤⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁤⁢⁢⁤⁤⁢⁢⁢⁤⁢⁢⁢⁤⁢⁤⁢⁢⁤⁢⁢⁢⁢⁤⁢⁢⁤⁢⁢⁤⁢⁢⁢⁤⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁤⁤⁢⁤⁢⁢⁤⁢⁢⁢⁢⁢⁤⁢⁤⁢⁤⁢
+pub trait BufferMut<T> {
+    fn push(&mut self, value: T);
+    fn clear(&mut self);
+    fn as_slice(&self) -> &[T];
+    fn len(&self) -> usize;
+    fn is_empty(&self) -> bool;
+}
+
+#[cfg(feature = "alloc")]
+impl<T> BufferMut<T> for alloc::vec::Vec<T> {
+    fn push(&mut self, value: T) {
+        self.push(value);
+    }
+
+    fn clear(&mut self) {
+        self.clear();
+    }
+
+    fn len(&self) -> usize {
+        self.len()
+    }
+
+    fn is_empty(&self) -> bool {
+        self.is_empty()
+    }
+
+    fn as_slice(&self) -> &[T] {
+        self
+    }
+}
+
+#[cfg(feature = "heapless")]
+impl<T> BufferMut<T> for heapless::Vec<T, crate::BLOCK_SIZE> {
+    fn push(&mut self, value: T) {
+        self.push(value).ok();
+    }
+
+    fn clear(&mut self) {
+        self.clear();
+    }
+
+    fn as_slice(&self) -> &[T] {
+        self
+    }
+
+    fn len(&self) -> usize {
+        self.as_slice().len()
+    }
+
+    fn is_empty(&self) -> bool {
+        self.is_empty()
+    }
+}