From 66e1bb44e733e0cced3eaeed535bef796504c10b Mon Sep 17 00:00:00 2001
From: Stephen D <webmaster@scd31.com>
Date: Sat, 8 Jul 2023 15:28:57 -0300
Subject: [PATCH] basic SPI working
---
Cargo.lock | 10 ++++
Cargo.toml | 2 +-
src/control.rs | 7 ++-
src/packet.rs | 9 ++--
src/radio.rs | 130 +++++++++++++++++++++++++++----------------------
5 files changed, 90 insertions(+), 68 deletions(-)
diff --git a/Cargo.lock b/Cargo.lock
index 350ec80..96fec44 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -40,6 +40,7 @@ dependencies = [
"crc",
"image",
"kiss-tnc",
+ "rppal",
"serde",
"serial",
"sha3",
@@ -687,6 +688,15 @@ dependencies = [
"bitflags",
]
+[[package]]
+name = "rppal"
+version = "0.14.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "612e1a22e21f08a246657c6433fe52b773ae43d07c9ef88ccfc433cc8683caba"
+dependencies = [
+ "libc",
+]
+
[[package]]
name = "scopeguard"
version = "1.1.0"
diff --git a/Cargo.toml b/Cargo.toml
index a78d03c..6783760 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -23,10 +23,10 @@ bitvec = "1.0.1"
crc = "3.0.1"
image = "0.24.6"
kiss-tnc = "0.2.2"
+rppal = "0.14.1"
serde = { version = "1.0.160", features = ["derive"] }
serial = "0.4.0"
sha3 = "0.10.7"
subprocess = "0.2.9"
tokio = { version = "1.27.0", features = ["full"] }
toml = "0.7.3"
-
diff --git a/src/control.rs b/src/control.rs
index 761d59f..e48b27e 100644
--- a/src/control.rs
+++ b/src/control.rs
@@ -11,7 +11,7 @@ use crate::{
config::Config,
img::ImgManager,
packet::{FecPacket, Packet},
- radio::UartRadio,
+ radio::McuRadio,
ssdv::ssdv_encode,
};
@@ -93,7 +93,7 @@ impl Controller {
telem_rx: Receiver<Packet>,
) {
let mut radio = loop {
- let r = UartRadio::new(&uart);
+ let r = McuRadio::new(&uart);
match r {
Ok(r) => break r,
@@ -122,6 +122,9 @@ impl Controller {
eprintln!("Could not send packet: {}", e);
}
} else {
+ if let Err(e) = radio.flush() {
+ eprintln!("Could not flush radio: {}", e);
+ }
thread::sleep(Duration::from_millis(50));
}
diff --git a/src/packet.rs b/src/packet.rs
index 8bd7b63..1d52ce6 100644
--- a/src/packet.rs
+++ b/src/packet.rs
@@ -23,16 +23,13 @@ impl Packet {
.iter()
.chain(b": ".iter())
.chain(msg.as_bytes().iter());
+ let mut len = 0;
for (i, b) in iter.enumerate().take(TEXT_MESSAGE_LEN) {
out[i] = *b;
+ len += 1;
}
- let len = msg
- .as_bytes()
- .len()
- .min(TEXT_MESSAGE_LEN)
- .try_into()
- .unwrap();
+ let len = len.min(TEXT_MESSAGE_LEN).try_into().unwrap();
Self::TextMessage(len, out)
}
diff --git a/src/radio.rs b/src/radio.rs
index 8c33842..9da61cc 100644
--- a/src/radio.rs
+++ b/src/radio.rs
@@ -1,9 +1,5 @@
-use serial::{unix::TTYPort, BaudRate::BaudOther, SerialPort};
-use std::{
- io::{self, Read, Write},
- thread::sleep,
- time::Duration,
-};
+use rppal::spi::{Bus, Mode, SlaveSelect, Spi};
+use std::{thread::sleep, time::Duration};
use crate::packet::FecPacket;
@@ -11,44 +7,44 @@ const BUFFER_STATUS_CMD: u8 = 0x00;
const SEND_PACKET_CMD: u8 = 0x01;
const GET_TEMP_CMD: u8 = 0x02;
const SYNC_CMD: u8 = 0x03;
+const NOP_CMD: u8 = 0x55;
const PACKET_SPACE: u8 = 0x02;
// Used for talking to an RF4463 via a microcontroller
-// The microcontroller takes in packet data over UART and sends it to the RF4463
-pub struct UartRadio {
- uart: TTYPort,
+// The microcontroller takes in packet data over SPI and sends it to the RF4463
+pub struct McuRadio {
+ spi: Spi,
}
-impl UartRadio {
+// TODO reset mcu on initialization
+impl McuRadio {
pub fn new(uart: &str) -> anyhow::Result<Self> {
- let mut uart = serial::open(uart)?;
- uart.reconfigure(&|settings| settings.set_baud_rate(BaudOther(921_600)))?;
+ let spi = Spi::new(Bus::Spi0, SlaveSelect::Ss1, 1_000_000, Mode::Mode0)?;
- Ok(Self { uart })
+ Ok(Self { spi })
}
pub fn send_packet(&mut self, packet: &FecPacket) -> anyhow::Result<()> {
- self.uart.write_all(&[SEND_PACKET_CMD])?;
- self.uart.write_all(&packet.0)?;
-
- let mut buf = [0; 1];
- self.uart.read_exact(&mut buf)?;
-
- // wait until we have space for packets
+ // wait until we have packet space
+ let mut buf = [0];
+ self.spi.transfer(&mut buf, &[NOP_CMD])?;
while buf != [PACKET_SPACE] {
sleep(Duration::from_millis(10));
- // poll to see if the buffer has emptied yet
- self.uart.write_all(&[BUFFER_STATUS_CMD])?;
-
- self.uart.read_exact(&mut buf)?;
+ self.spi.transfer(&mut buf, &[NOP_CMD])?;
}
+ self.spi.write(&[SEND_PACKET_CMD])?;
+ self.spi.write(&packet.0)?;
+
Ok(())
}
pub fn get_temp(&mut self) -> anyhow::Result<f32> {
+ // todo need to figure this out
+
+ /*
self.uart.write_all(&[GET_TEMP_CMD])?;
let mut buf = [0; 4];
@@ -56,46 +52,62 @@ impl UartRadio {
let temp = f32::from_le_bytes(buf);
- Ok(temp)
+ Ok(temp) */
+
+ Ok(12.34)
}
pub fn sync(&mut self) -> anyhow::Result<()> {
- // clear any pending packets
- let mut tries = 0;
- let mut buf = [0; 100];
- loop {
- match self.uart.read(&mut buf) {
- Ok(0) => break,
- Ok(_) => {
- tries += 1;
- }
- Err(e) if matches!(e.kind(), io::ErrorKind::TimedOut) => break,
- Err(e) => {
- return Err(e.into());
- }
- }
- }
-
- if tries > 0 {
- eprintln!("[WARN] Sync had pending packets(tries={tries})");
- }
+ // todo need to figure this out
+
+ /*
+
+ // clear any pending packets
+ let mut tries = 0;
+ let mut buf = [0; 100];
+ loop {
+ match self.uart.read(&mut buf) {
+ Ok(0) => break,
+ Ok(_) => {
+ tries += 1;
+ }
+ Err(e) if matches!(e.kind(), io::ErrorKind::TimedOut) => break,
+ Err(e) => {
+ return Err(e.into());
+ }
+ }
+ }
+
+ if tries > 0 {
+ eprintln!("[WARN] Sync had pending packets(tries={tries})");
+ }
+
+ tries = 0;
+ let mut buf = [0; 10];
+ loop {
+ self.uart.write_all(&[SYNC_CMD; 10])?;
+ match self.uart.read_exact(&mut buf) {
+ Ok(()) => break,
+ Err(e) if matches!(e.kind(), io::ErrorKind::TimedOut) => {
+ tries += 1;
+ }
+ Err(e) => {
+ return Err(e.into());
+ }
+ }
+ }
+
+ eprintln!("Synced in {tries} tries");
+
+ Ok(())
+ */
- tries = 0;
- let mut buf = [0; 10];
- loop {
- self.uart.write_all(&[SYNC_CMD; 10])?;
- match self.uart.read_exact(&mut buf) {
- Ok(()) => break,
- Err(e) if matches!(e.kind(), io::ErrorKind::TimedOut) => {
- tries += 1;
- }
- Err(e) => {
- return Err(e.into());
- }
- }
- }
+ Ok(())
+ }
- eprintln!("Synced in {tries} tries");
+ // sends a bunch of nops over SPI to clear out its DMA buffer
+ pub fn flush(&mut self) -> anyhow::Result<()> {
+ self.spi.write(&[NOP_CMD; 256])?;
Ok(())
}
--
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