From 7b9fd2443a7369a47710fb734e626f5faab5ae7f Mon Sep 17 00:00:00 2001
From: Stephen <webmaster@scd31.com>
Date: Mon, 15 May 2023 11:08:09 -0300
Subject: [PATCH] uart improvements
---
src/control.rs | 15 +++++++++------
src/packet.rs | 3 ++-
src/radio.rs | 40 ++++++++++++++++++++++------------------
3 files changed, 33 insertions(+), 25 deletions(-)
diff --git a/src/control.rs b/src/control.rs
index 407d1a8..59762fb 100644
--- a/src/control.rs
+++ b/src/control.rs
@@ -79,22 +79,25 @@ impl Controller {
}
// manages our transceiver
- // TODO currently very hacky, because we're going to rip
- // most of this out when we stop using a lobotomized NPR-70
- // and move to just accessing the RF4463 directly over SPI
fn tx_thread(image_rx: Receiver<FecPacket>, telem_rx: Receiver<Packet>) {
- let mut radio = UartRadio::new("/dev/ttyACM0");
+ let mut radio = UartRadio::new("/dev/ttyAMA0").expect("Could not initialize radio");
let mut text_msg_id = 0;
loop {
while let Ok(tm) = telem_rx.try_recv() {
let tm = tm.into_raw(&mut text_msg_id).into();
- radio.send_packet(&tm);
+ if let Err(e) = radio.send_packet(&tm) {
+ eprintln!("Could not send packet: {}", e);
+ }
}
if let Ok(img) = image_rx.try_recv() {
- radio.send_packet(&img);
+ println!("start send packet");
+ if let Err(e) = radio.send_packet(&img) {
+ eprintln!("Could not send packet: {}", e);
+ }
+ println!("end send packet");
} else {
thread::sleep(Duration::from_millis(5));
}
diff --git a/src/packet.rs b/src/packet.rs
index 9a5a91a..6a40ca3 100644
--- a/src/packet.rs
+++ b/src/packet.rs
@@ -3,6 +3,7 @@ use crc::{Crc, CRC_16_IBM_3740};
use crate::ldpc::ldpc_encode;
const TEXT_MESSAGE_LEN: usize = 252;
+const FEC_PACKET_LEN: usize = 256 + 2 + 65;
pub enum Packet {
TextMessage(u8, [u8; TEXT_MESSAGE_LEN]),
@@ -55,7 +56,7 @@ impl Packet {
pub struct RawPacket(pub [u8; 256]);
-pub struct FecPacket(pub [u8; 256 + 2 + 65]);
+pub struct FecPacket(pub [u8; FEC_PACKET_LEN]);
impl From<RawPacket> for FecPacket {
fn from(value: RawPacket) -> Self {
diff --git a/src/radio.rs b/src/radio.rs
index c05d167..3d61748 100644
--- a/src/radio.rs
+++ b/src/radio.rs
@@ -1,6 +1,7 @@
use serial::{unix::TTYPort, BaudRate::BaudOther, SerialPort};
use std::{
io::{Read, Write},
+ thread::sleep,
time::Duration,
};
@@ -8,33 +9,36 @@ use crate::packet::FecPacket;
// Used for talking to an RF4463 via a microcontroller
// The microcontroller takes in packet data over UART and sends it to the RF4463
-// Note that this is a little hacky. It's only intended to be used
-// for debugging, and not for an actual balloon flight
pub struct UartRadio {
uart: TTYPort,
}
impl UartRadio {
- pub fn new(uart: &str) -> Self {
- let mut uart = serial::open(uart).unwrap();
- uart.reconfigure(&|settings| settings.set_baud_rate(BaudOther(921600)))
- .unwrap();
- uart.set_timeout(Duration::from_millis(5)).unwrap();
+ pub fn new(uart: &str) -> anyhow::Result<Self> {
+ let mut uart = serial::open(uart)?;
+ uart.reconfigure(&|settings| settings.set_baud_rate(BaudOther(921_600)))?;
- Self { uart }
+ Ok(Self { uart })
}
- pub fn send_packet(&mut self, packet: &FecPacket) {
- self.uart.write_all(&packet.0).unwrap();
- let mut buf = [0; 1];
- if let Ok(1) = self.uart.read(&mut buf) {
- if buf[0] == b'F' {
- // uC is full. Need to wait until we receive
- // the empty signal
- while buf[0] != b'E' {
- let _ = self.uart.read(&mut buf);
- }
+ pub fn send_packet(&mut self, packet: &FecPacket) -> anyhow::Result<()> {
+ loop {
+ self.uart.write_all(&[0x00])?;
+ self.uart.flush()?;
+
+ let mut buf = [0; 1];
+ self.uart.read_exact(&mut buf)?;
+
+ if buf == [0x02] {
+ break; // enough space for packet
+ } else {
+ sleep(Duration::from_millis(10));
}
}
+
+ self.uart.write_all(&[0x01])?;
+ self.uart.write_all(&packet.0)?;
+
+ Ok(())
}
}
--
GitLab