Store encoders into a shared global structure

controller/src/logic/mod.rs

@@ -4,6 +4,7 @@ use crate::{
 };
 use embassy_executor::Spawner;
 use embassy_stm32::{peripherals::WWDG, time::hz};
+use embassy_sync::once_lock::OnceLock;
 use futures::FutureExt;
 use heapless::Vec;
 use i2c2_target::{I2C2, MESSAGE_SIZE};
@@ -14,15 +15,18 @@ mod watchdog;
 
 pub const I2C_ADDRESS: u8 = 0x57;
 
+static ENCODERS: OnceLock<Encoders<'static>> = OnceLock::new();
+
 struct State {
     _i2c: I2C2,
-    encoders: Encoders<'static>,
+    encoders: &'static Encoders<'static>,
     tick_count: Relative,
 }
 
 impl State {
-    fn new(i2c2: I2C2, encoders: Encoders<'static>) -> Self {
-        let tick_count = Relative::new(&encoders);
+    async fn new(i2c2: I2C2) -> Self {
+        let encoders = ENCODERS.get().await;
+        let tick_count = Relative::new(encoders);
         Self {
             _i2c: i2c2,
             encoders,
@@ -39,14 +43,15 @@ pub fn start_i2c_target(
     encoders: Encoders<'static>,
     _wwdg: WWDG,
 ) {
-    spawner.spawn(i2c_engine(i2c2, encoders)).unwrap();
+    ENCODERS.get_or_init(|| encoders);
+    spawner.spawn(i2c_engine(i2c2)).unwrap();
     spawner.spawn(watchdog::watchdog()).unwrap();
     spawner.spawn(motor_control::motor_control(motors)).unwrap();
 }
 
 #[embassy_executor::task]
-async fn i2c_engine(i2c2: I2C2, encoders: Encoders<'static>) {
-    let state = State::new(i2c2, encoders);
+async fn i2c_engine(i2c2: I2C2) {
+    let state = State::new(i2c2).await;
     I2C2::start(&i2c_callback, state).await;
 }
 
@@ -150,7 +155,7 @@ fn process_command(
             response.push(watchdog::get_shutdown_timeout()).unwrap();
         }
         [CMD_ENCODER_TICKS] => {
-            let (left, right) = state.tick_count.ticks(&state.encoders);
+            let (left, right) = state.tick_count.ticks(state.encoders);
             let (left, right) = (left.to_le_bytes(), right.to_le_bytes());
             response.push(left[0]).unwrap();
             response.push(left[1]).unwrap();