diff --git a/Cargo.lock b/Cargo.lock
index 350ec80ab0e9c88c73123a4bdd456aff6bc30993..0e68525849f5d891d6c82dfda16cbabf426e371a 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -40,8 +40,8 @@ dependencies = [
"crc",
"image",
"kiss-tnc",
+ "rppal",
"serde",
- "serial",
"sha3",
"subprocess",
"tokio",
@@ -383,15 +383,6 @@ dependencies = [
"hashbrown",
]
-[[package]]
-name = "ioctl-rs"
-version = "0.1.6"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f7970510895cee30b3e9128319f2cefd4bde883a39f38baa279567ba3a7eb97d"
-dependencies = [
- "libc",
-]
-
[[package]]
name = "jpeg-decoder"
version = "0.3.0"
@@ -687,6 +678,15 @@ 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"
@@ -722,48 +722,6 @@ dependencies = [
"serde",
]
-[[package]]
-name = "serial"
-version = "0.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "a1237a96570fc377c13baa1b88c7589ab66edced652e43ffb17088f003db3e86"
-dependencies = [
- "serial-core",
- "serial-unix",
- "serial-windows",
-]
-
-[[package]]
-name = "serial-core"
-version = "0.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "3f46209b345401737ae2125fe5b19a77acce90cd53e1658cda928e4fe9a64581"
-dependencies = [
- "libc",
-]
-
-[[package]]
-name = "serial-unix"
-version = "0.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "f03fbca4c9d866e24a459cbca71283f545a37f8e3e002ad8c70593871453cab7"
-dependencies = [
- "ioctl-rs",
- "libc",
- "serial-core",
- "termios",
-]
-
-[[package]]
-name = "serial-windows"
-version = "0.4.0"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "15c6d3b776267a75d31bbdfd5d36c0ca051251caafc285827052bc53bcdc8162"
-dependencies = [
- "libc",
- "serial-core",
-]
-
[[package]]
name = "sha3"
version = "0.10.8"
@@ -841,15 +799,6 @@ version = "1.0.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "55937e1799185b12863d447f42597ed69d9928686b8d88a1df17376a097d8369"
-[[package]]
-name = "termios"
-version = "0.2.2"
-source = "registry+https://github.com/rust-lang/crates.io-index"
-checksum = "d5d9cf598a6d7ce700a4e6a9199da127e6819a61e64b68609683cc9a01b5683a"
-dependencies = [
- "libc",
-]
-
[[package]]
name = "thiserror"
version = "1.0.40"
diff --git a/Cargo.toml b/Cargo.toml
index a78d03c43cf29b5fb1bc981810760eef0c20cab2..0aaeac3aa08100814f2572872f2c2e0c9040808d 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -23,10 +23,9 @@ 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/config.toml.example b/config.toml.example
index afc4001fbfdcbb052b65dd6a1f3b8cb0d6a3af6d..109e6d26fa5e6417fb1d79cb97baf2aa95f5652d 100644
--- a/config.toml.example
+++ b/config.toml.example
@@ -14,9 +14,6 @@ callsign = "NOCALL"
# Max image dimension. Comment this out to send full-sized images
max_img_dimension = 1024
-# radio uart
-uart = "/dev/ttyAMA0"
-
# Comment this section out if you're not using
# APRS for control
[control]
diff --git a/src/config.rs b/src/config.rs
index b4b8e2666ed490318a9d34fc4bce45574492f62c..f9057d1311a3d90aad91706b3eeb0804e563038b 100644
--- a/src/config.rs
+++ b/src/config.rs
@@ -14,7 +14,6 @@ pub struct ControlConfig {
pub struct Config {
pub paths: Vec<PathBuf>,
pub callsign: String,
- pub uart: String,
pub max_img_dimension: Option<u32>,
pub control: Option<ControlConfig>,
diff --git a/src/control.rs b/src/control.rs
index 761d59f4336d131fcd1bb28ed20362aa76421801..ef709de4536cccaf30ab3f5705c4b2f066c0d371 100644
--- a/src/control.rs
+++ b/src/control.rs
@@ -11,13 +11,12 @@ use crate::{
config::Config,
img::ImgManager,
packet::{FecPacket, Packet},
- radio::UartRadio,
+ radio::McuRadio,
ssdv::ssdv_encode,
};
const IMAGE_PACKET_QUEUE_LENGTH: usize = 8192;
const TEMP_REFRESH_INTERVAL: Duration = Duration::from_secs(5);
-const SYNC_REFRESH_INTERVAL: Duration = Duration::from_secs(7);
pub struct Controller {
config: Config,
@@ -35,8 +34,7 @@ impl Controller {
{
let callsign = self.config.callsign.clone();
- let uart = self.config.uart.clone();
- thread::spawn(|| Self::tx_thread(callsign, uart, img_rx, telem_rx));
+ thread::spawn(|| Self::tx_thread(callsign, img_rx, telem_rx));
}
{
@@ -86,14 +84,9 @@ impl Controller {
}
// manages our transceiver
- fn tx_thread(
- callsign: String,
- uart: String,
- image_rx: Receiver<FecPacket>,
- telem_rx: Receiver<Packet>,
- ) {
+ fn tx_thread(callsign: String, image_rx: Receiver<FecPacket>, telem_rx: Receiver<Packet>) {
let mut radio = loop {
- let r = UartRadio::new(&uart);
+ let r = McuRadio::new();
match r {
Ok(r) => break r,
@@ -107,49 +100,53 @@ impl Controller {
let mut text_msg_id = 0;
let mut last_got_temp = Instant::now();
- let mut last_synced_at = Instant::now();
loop {
- while let Ok(tm) = telem_rx.try_recv() {
- let tm = tm.into_raw(&mut text_msg_id).into();
-
- if let Err(e) = radio.send_packet(&tm) {
- eprintln!("Could not send packet: {}", e);
- }
+ if let Err(e) = Self::tx_thread_single_iter(
+ &callsign,
+ &image_rx,
+ &telem_rx,
+ &mut text_msg_id,
+ &mut last_got_temp,
+ &mut radio,
+ ) {
+ eprintln!("Radio error: {}", e);
+ radio.reset();
}
+ }
+ }
- if let Ok(img) = image_rx.try_recv() {
- if let Err(e) = radio.send_packet(&img) {
- eprintln!("Could not send packet: {}", e);
- }
- } else {
- thread::sleep(Duration::from_millis(50));
- }
+ fn tx_thread_single_iter(
+ callsign: &str,
+ image_rx: &Receiver<FecPacket>,
+ telem_rx: &Receiver<Packet>,
+ text_msg_id: &mut u16,
+ last_got_temp: &mut Instant,
+ radio: &mut McuRadio,
+ ) -> anyhow::Result<()> {
+ while let Ok(tm) = telem_rx.try_recv() {
+ let tm = tm.into_raw(text_msg_id).into();
+
+ radio.send_packet(&tm)?;
+ }
- if Instant::now() - last_got_temp > TEMP_REFRESH_INTERVAL {
- last_got_temp = Instant::now();
+ if let Ok(img) = image_rx.try_recv() {
+ radio.send_packet(&img)?;
+ } else {
+ radio.flush()?;
- let temp = match radio.get_temp() {
- Ok(x) => x,
- Err(e) => {
- eprintln!("Could not get radio temp: {}", e);
- continue;
- }
- };
+ thread::sleep(Duration::from_millis(50));
+ }
- let packet = Packet::new_text_message(&callsign, &format!("Temp: {}", temp));
+ if Instant::now() - *last_got_temp > TEMP_REFRESH_INTERVAL {
+ *last_got_temp = Instant::now();
- if let Err(e) = radio.send_packet(&packet.into_raw(&mut text_msg_id).into()) {
- eprintln!("Could not send packet: {}", e);
- }
- }
+ let temp = radio.get_temp()?;
- if Instant::now() - last_synced_at > SYNC_REFRESH_INTERVAL {
- last_synced_at = Instant::now();
+ let packet = Packet::new_text_message(callsign, &format!("Temp: {}", temp));
- if let Err(e) = radio.sync() {
- eprintln!("Could not sync: {}", e);
- }
- }
+ radio.send_packet(&packet.into_raw(text_msg_id).into())?;
}
+
+ Ok(())
}
}
diff --git a/src/packet.rs b/src/packet.rs
index 8bd7b63aba2f06b777c338088de06464b3f58038..1d52ce6bf13a224b9cb761911a346e8b367f7178 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 8c338422d33c1d2c74cc3df3d45c4c5d6a905f65..6a35abfd577874854d3dac7667cbf3307b7378b7 100644
--- a/src/radio.rs
+++ b/src/radio.rs
@@ -1,102 +1,100 @@
-use serial::{unix::TTYPort, BaudRate::BaudOther, SerialPort};
-use std::{
- io::{self, Read, Write},
- thread::sleep,
- time::Duration,
+use anyhow::anyhow;
+use rppal::{
+ gpio::{Gpio, OutputPin},
+ spi::{Bus, Mode, SlaveSelect, Spi},
};
+use std::{thread::sleep, time::Duration};
use crate::packet::FecPacket;
-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;
+const PREAMBLE: u8 = 0xE5;
+const NO_SPACE: u8 = 0x55;
+const FREE_SPACE: u8 = 0xAA;
// 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,
+ reset_pin: OutputPin,
}
-impl UartRadio {
- pub fn new(uart: &str) -> anyhow::Result<Self> {
- let mut uart = serial::open(uart)?;
- uart.reconfigure(&|settings| settings.set_baud_rate(BaudOther(921_600)))?;
+impl McuRadio {
+ pub fn new() -> anyhow::Result<Self> {
+ let spi = Spi::new(Bus::Spi0, SlaveSelect::Ss1, 1_000_000, Mode::Mode0)?;
+ let reset_pin = Gpio::new()?.get(8)?.into_output_high();
- Ok(Self { uart })
- }
+ let mut s = Self { reset_pin, spi };
- pub fn send_packet(&mut self, packet: &FecPacket) -> anyhow::Result<()> {
- self.uart.write_all(&[SEND_PACKET_CMD])?;
- self.uart.write_all(&packet.0)?;
+ s.reset();
- let mut buf = [0; 1];
- self.uart.read_exact(&mut buf)?;
+ Ok(s)
+ }
- // wait until we have space for packets
- while buf != [PACKET_SPACE] {
- sleep(Duration::from_millis(10));
+ pub fn reset(&mut self) {
+ self.reset_pin.set_low();
+ sleep(Duration::from_millis(10));
+ self.reset_pin.set_high();
+ sleep(Duration::from_millis(1000));
+ }
- // poll to see if the buffer has emptied yet
- self.uart.write_all(&[BUFFER_STATUS_CMD])?;
+ pub fn send_packet(&mut self, packet: &FecPacket) -> anyhow::Result<()> {
+ // wait until we have packet space
- self.uart.read_exact(&mut buf)?;
+ while !self.get_info()?.0 {
+ sleep(Duration::from_millis(10));
}
+ self.spi.write(&[SEND_PACKET_CMD])?;
+ self.spi.write(&packet.0)?;
+
Ok(())
}
pub fn get_temp(&mut self) -> anyhow::Result<f32> {
- self.uart.write_all(&[GET_TEMP_CMD])?;
-
- let mut buf = [0; 4];
- self.uart.read_exact(&mut buf)?;
+ Ok(self.get_info()?.1)
+ }
- let temp = f32::from_le_bytes(buf);
+ // 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(temp)
+ Ok(())
}
- 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());
- }
+ // try 10 times and then give up
+ fn get_info(&mut self) -> anyhow::Result<(bool, f32)> {
+ for _ in 0..9 {
+ if let Ok(x) = self.get_info_once() {
+ return Ok(x);
}
}
- if tries > 0 {
- eprintln!("[WARN] Sync had pending packets(tries={tries})");
- }
+ self.get_info_once()
+ }
- 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());
- }
- }
- }
+ fn get_info_once(&mut self) -> anyhow::Result<(bool, f32)> {
+ // get 256 bytes from the mcu
+ let mut buf = [0; 256];
+ self.spi.transfer(&mut buf, &[NOP_CMD; 256])?;
- eprintln!("Synced in {tries} tries");
+ // look for our data
+ // it goes [0xE5, 0xE5, 0xAA || 0x55, ?, ?, ?, ?, 0xE5, 0xE5]
+ for i in 0..(buf.len() - 9) {
+ let chunk = &buf[i..(i + 9)];
- Ok(())
+ if chunk[0..2] == [PREAMBLE, PREAMBLE]
+ && (chunk[2] == FREE_SPACE || chunk[2] == NO_SPACE)
+ && chunk[7..9] == [PREAMBLE, PREAMBLE]
+ {
+ let free = chunk[2] == FREE_SPACE;
+ let temp = f32::from_le_bytes(chunk[3..7].try_into().unwrap());
+
+ return Ok((free, temp));
+ }
+ }
+ Err(anyhow!("could not find valid data"))
}
}
diff --git a/src/ssdv.rs b/src/ssdv.rs
index 63784d3fc4026b94d2a7f54a3175f9a6245fec53..f8e75907b1620032d9e4a5980bbe5e5ddce3de0a 100644
--- a/src/ssdv.rs
+++ b/src/ssdv.rs
@@ -1,12 +1,14 @@
use anyhow::{bail, Context};
+use subprocess::{Popen, PopenConfig, Redirection};
use crate::packet::RawPacket;
// TODO eventually rewrite Ssdv in Rust?
// Don't want to use FFI because then segfaults can hurt us
pub fn ssdv_encode(callsign: &str, img: &[u8], img_idx: u8) -> anyhow::Result<Vec<RawPacket>> {
- let (stdout, stderr) = subprocess::Exec::cmd("ssdv")
- .args(&[
+ let mut p = Popen::create(
+ &[
+ "ssdv",
"-e",
"-c",
callsign,
@@ -15,10 +17,16 @@ pub fn ssdv_encode(callsign: &str, img: &[u8], img_idx: u8) -> anyhow::Result<Ve
"6",
"-i",
&format!("{}", img_idx),
- ])
- .stdin(img.to_vec())
- .communicate()?
- .read()?;
+ ],
+ PopenConfig {
+ stdin: Redirection::Pipe,
+ stdout: Redirection::Pipe,
+ stderr: Redirection::Pipe,
+ ..Default::default()
+ },
+ )?;
+
+ let (stdout, stderr) = p.communicate_bytes(Some(img))?;
if let Some(stderr) = stderr {
if !stderr.is_empty() {