diff --git a/Cargo.lock b/Cargo.lock
index f02927df0134fb32f4a62ae9410d533f5dc1af5c..f174c172464ac7f3fceed395645e6e9f82005939 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -76,6 +76,7 @@ dependencies = [
"cortex-m",
"cortex-m-rt",
"cortex-m-rtic",
+ "cortex-m-semihosting",
"crc",
"embedded-storage",
"half",
@@ -168,6 +169,15 @@ dependencies = [
"syn",
]
+[[package]]
+name = "cortex-m-semihosting"
+version = "0.5.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "c23234600452033cc77e4b761e740e02d2c4168e11dbf36ab14a0f58973592b0"
+dependencies = [
+ "cortex-m",
+]
+
[[package]]
name = "crc"
version = "3.0.1"
@@ -523,7 +533,7 @@ checksum = "ec0be4795e2f6a28069bec0b5ff3e2ac9bafc99e6a9a7dc3547996c5c816922c"
[[package]]
name = "rf4463"
version = "0.1.0"
-source = "git+https://gitlab.scd31.com/stephen/rf4463-lib#9857af6eb45851ea8e68ee628db4c6e2bf25335b"
+source = "git+https://gitlab.scd31.com/stephen/rf4463-lib#79c8def87540f8ab2663bfa3c9fb13db344ef84e"
dependencies = [
"embedded-hal 0.2.7",
]
diff --git a/Cargo.toml b/Cargo.toml
index 0a8c49cb7d6e2b8bedb5fb764432b8d10ff1228b..bf6195dea3cb5fee8d2565f3f3de8c84e2671427 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -16,7 +16,7 @@ stm32f4xx-hal = { version = "0.16", features = ["stm32f411", "rtic", "otg-fs", "
cortex-m = "0.7"
cortex-m-rt = "0.7"
cortex-m-rtic = { version = "1.1.4" }
-#cortex-m-semihosting = "0.5"
+cortex-m-semihosting = "0.5"
#panic-semihosting = "0.6"
panic-reset = "0.1.1"
rf4463 = { git = "https://gitlab.scd31.com/stephen/rf4463-lib" }
@@ -34,4 +34,3 @@ crc = "3.0.1"
embedded-storage = "0.2.0"
num-traits = { version = "0.2.17", default-features = false, features = ["libm"] }
rand = { version = "0.8", default_features = false, features = ["small_rng"] }
-# TODO need to add panic-reset at some point
\ No newline at end of file
diff --git a/src/config.rs b/src/config.rs
index 5a16b12d80c24b7c5344e1268faf623665ae4ce6..4d0f42c5ac8e64b3cb18641edea4ec3fa07198ae 100644
--- a/src/config.rs
+++ b/src/config.rs
@@ -7,6 +7,7 @@ use stm32f4xx_hal::flash::{FlashExt, LockedFlash};
use crate::geo::distance_km;
+const CONFIG_LEN: usize = 844;
const CASTAGNOLI: Crc<u32> = Crc::<u32>::new(&CRC_32_ISCSI);
#[derive(Clone)]
@@ -21,6 +22,8 @@ pub struct Config {
pub enable_transmit: bool,
pub enable_digipeating: bool,
pub black_hole: MaybeBlackHole,
+ pub min_voltage: Maybe<f32>,
+
pub antenna_height: Maybe<u8>,
pub antenna_gain: Maybe<f32>,
pub tx_power: Maybe<f32>,
@@ -34,19 +37,25 @@ impl Config {
NorFlash::erase(&mut unlocked, 384 * 1024, 512 * 1024).unwrap();
// Write our config
- let mut buf = [0; 839];
+ let mut buf = [0; CONFIG_LEN];
self.serialize(&mut buf);
NorFlash::write(&mut unlocked, 384 * 1024, &buf).unwrap();
}
pub fn load_from_flash(flash: &mut LockedFlash) -> Option<Self> {
- let mut buf = [0; 839];
+ let mut buf = [0; CONFIG_LEN];
ReadNorFlash::read(flash, 384 * 1024, &mut buf).unwrap();
Self::deserialize(&buf)
}
- fn serialize(&self, buf: &mut [u8; 839]) {
+ pub fn should_enable_gps(&self) -> bool {
+ self.enable_transmit
+ && (matches!(self.black_hole, MaybeBlackHole::Some(_))
+ || matches!(self.gps, GpsSetting::Receiver))
+ }
+
+ fn serialize(&self, buf: &mut [u8; CONFIG_LEN]) {
// version
// allows us to update the config structure in the future
// while maintaining backwards compatibility
@@ -110,21 +119,31 @@ impl Config {
}
}
+ match self.min_voltage {
+ Maybe::Some(v) => {
+ buf[835] = 1;
+ buf[836..840].copy_from_slice(&v.to_le_bytes());
+ }
+ Maybe::None => {
+ buf[835] = 0;
+ }
+ }
+
// Checksum
- let checksum = CASTAGNOLI.checksum(&buf[0..835]);
- buf[835..839].copy_from_slice(&checksum.to_le_bytes());
+ let checksum = CASTAGNOLI.checksum(&buf[0..840]);
+ buf[840..844].copy_from_slice(&checksum.to_le_bytes());
}
- fn deserialize(buf: &[u8; 839]) -> Option<Self> {
+ fn deserialize(buf: &[u8; CONFIG_LEN]) -> Option<Self> {
match buf[0] {
0 => Self::deserialize_v0(buf),
_ => None,
}
}
- fn deserialize_v0(buf: &[u8; 839]) -> Option<Self> {
- let expected_checksum = CASTAGNOLI.checksum(&buf[0..835]);
- let actual_checksum = u32::from_le_bytes(buf[835..839].try_into().unwrap());
+ fn deserialize_v0(buf: &[u8; CONFIG_LEN]) -> Option<Self> {
+ let expected_checksum = CASTAGNOLI.checksum(&buf[0..840]);
+ let actual_checksum = u32::from_le_bytes(buf[840..844].try_into().unwrap());
if expected_checksum != actual_checksum {
return None;
}
@@ -179,6 +198,12 @@ impl Config {
Maybe::None
};
+ let min_voltage = if buf[835] > 0 {
+ Maybe::Some(f32::from_le_bytes(buf[836..840].try_into().unwrap()))
+ } else {
+ Maybe::None
+ };
+
Some(Config {
callsign,
icon,
@@ -190,6 +215,8 @@ impl Config {
enable_transmit,
enable_digipeating,
black_hole,
+ min_voltage,
+
antenna_height,
antenna_gain,
tx_power,
@@ -210,6 +237,8 @@ impl Default for Config {
enable_transmit: false,
enable_digipeating: true,
black_hole: MaybeBlackHole::None,
+ min_voltage: Maybe::None,
+
antenna_height: Maybe::None,
antenna_gain: Maybe::None,
tx_power: Maybe::Some(30.0),
@@ -335,8 +364,17 @@ where
{
fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
match self {
- Maybe::Some(x) => write!(f, "{x}"),
+ Maybe::Some(x) => x.fmt(f),
Maybe::None => write!(f, "<None>"),
}
}
}
+
+impl<T> From<Maybe<T>> for Option<T> {
+ fn from(val: Maybe<T>) -> Self {
+ match val {
+ Maybe::Some(x) => Some(x),
+ Maybe::None => None,
+ }
+ }
+}
diff --git a/src/main.rs b/src/main.rs
index f160fdea60e6f366679ec03f564dc09fd6ce0e98..87181c922762413e318c5be7d6c6875a0c2b782e 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -40,7 +40,7 @@ mod app {
use usb_device::prelude::*;
use crate::{
- config::{Config, GpsSetting, Maybe, MaybeBlackHole},
+ config::{Config, GpsSetting, Maybe},
gps::{GpsModule, GpsPos},
radio::RadioManager,
shell::Shell,
@@ -53,6 +53,7 @@ mod app {
const H_CLK: u32 = 21_000_000;
const LED_BLINK_RATE: u64 = 250;
+ const UNDERVOLT_THRES_LEN: u8 = 20; // in # LED blinks
const HARDWARE_ID: u16 = 0x7c84;
const SOFTWARE_ID: u8 = 1;
@@ -74,6 +75,7 @@ mod app {
buf: &'static mut [u8; MAX_PACKET_LEN],
gps_enable: gpio::Pin<'C', 8, gpio::Output<gpio::OpenDrain>>,
bootup_time: Instant<u64, 1, { SYS_TICK_FREQ }>,
+ cycles_below_thres: u8,
}
#[shared]
@@ -124,7 +126,7 @@ mod app {
// setup volt meter
let volt_pin = gpioc.pc0.into_analog();
let volt_adc = Adc::adc1(dp.ADC1, true, AdcConfig::default());
- let volt_meter = VoltMeter::new(volt_pin, volt_adc);
+ let mut volt_meter = VoltMeter::new(volt_pin, volt_adc, config.min_voltage.into());
// Detect if we're connected to USB or not
let usb_detect = gpioa.pa5.into_pull_down_input();
@@ -205,8 +207,12 @@ mod app {
let buf = cortex_m::singleton!(: [u8; MAX_PACKET_LEN] = [0; MAX_PACKET_LEN]).unwrap();
+ let undervolt = volt_meter.below_threshold();
+
let status = if usb_connected {
Status::Programming(false)
+ } else if undervolt {
+ Status::Sleep
} else if radio.is_none() {
Status::Error(false)
} else if !config.enable_transmit {
@@ -216,20 +222,15 @@ mod app {
} else {
green.set_high();
- if config.enable_transmit
- && (matches!(config.black_hole, MaybeBlackHole::Some(_))
- || matches!(config.gps, GpsSetting::Receiver))
- {
- gps_enable.set_low(); // enable GPS
+ if config.should_enable_gps() {
+ gps_enable.set_low();
}
- Status::Normal
- };
-
- if config.enable_transmit && radio.is_some() {
transmit_position::spawn().unwrap();
radio_tick::spawn().unwrap();
- }
+
+ Status::Normal
+ };
led_handler::spawn().unwrap();
@@ -253,6 +254,7 @@ mod app {
buf,
gps_enable,
bootup_time,
+ cycles_below_thres: 0,
},
init::Monotonics(Systick::new(ctx.core.SYST, H_CLK)),
)
@@ -374,7 +376,8 @@ mod app {
}
}
- #[task(priority = 2, local = [green, usb_detect, gps_enable], shared = [red, status])]
+ #[task(priority = 2, local = [green, usb_detect, gps_enable, cycles_below_thres],
+ shared = [red, status, volt_meter, radio])]
fn led_handler(mut ctx: led_handler::Context) {
led_handler::spawn_after(LED_BLINK_RATE.millis()).unwrap();
@@ -388,8 +391,34 @@ mod app {
ctx.local.gps_enable.set_high();
}
+ match cur_status {
+ Status::Normal | Status::TxDisabled(_) | Status::Error(_) => {
+ if ctx.shared.volt_meter.lock(|vm| vm.below_threshold()) {
+ *ctx.local.cycles_below_thres += 1;
+ } else {
+ *ctx.local.cycles_below_thres = 0;
+ }
+
+ if *ctx.local.cycles_below_thres > UNDERVOLT_THRES_LEN {
+ status.lock(|s| *s = Status::Sleep);
+ ctx.local.gps_enable.set_high();
+ ctx.local.green.set_low();
+ ctx.shared.red.lock(|red| red.set_low());
+ ctx.shared.radio.lock(|r| r.as_mut().map(|x| x.sleep()));
+ }
+ }
+
+ Status::Sleep => {
+ if ctx.shared.volt_meter.lock(|vm| vm.above_threshold()) {
+ cortex_m::peripheral::SCB::sys_reset();
+ }
+ }
+
+ Status::Programming(_) => {}
+ }
+
status.lock(|s| match s {
- Status::Normal => {}
+ Status::Normal | Status::Sleep => {}
Status::Programming(b) => {
ctx.local.green.set_state((*b).into());
*b = !*b;
diff --git a/src/radio.rs b/src/radio.rs
index b98cd3644e43abeef6077ab8a48f23e1b7f368ed..d4e6d2ed4270fef704e82d914154a6dcd04598ad 100644
--- a/src/radio.rs
+++ b/src/radio.rs
@@ -39,8 +39,6 @@ impl<'a> RadioManager<'a> {
// sets us up for the default CATS frequency, 430.500 MHz
radio.set_channel(20);
- radio.start_rx(None, false).ok()?;
-
let enable_digipeating = config.enable_digipeating;
let seed = rand_seed_from_str(&config.callsign) ^ u64::from(config.ssid);
let rng = SmallRng::seed_from_u64(seed);
@@ -53,6 +51,10 @@ impl<'a> RadioManager<'a> {
})
}
+ pub fn sleep(&mut self) {
+ //self.radio.sleep()
+ }
+
pub fn get_temp(&mut self) -> Option<i8> {
self.radio
.get_temp()
diff --git a/src/shell.rs b/src/shell.rs
index 38540d43ff68aa50b759c1f69b68feee387eb3f4..ff0e0a97c130d7428c5d882e946eaeec2a4357cd 100644
--- a/src/shell.rs
+++ b/src/shell.rs
@@ -72,6 +72,8 @@ impl Shell {
enable_transmit,
enable_digipeating,
black_hole,
+ min_voltage,
+
antenna_height,
antenna_gain,
tx_power,
@@ -94,6 +96,7 @@ impl Shell {
transmit_period {transmit_period_seconds} (seconds)\r\n\
gps {gps}\r\n\
black_hole {black_hole}\r\n\
+ min_voltage {min_voltage:.2}\r\n\
enable_transmit {enable_transmit}\r\n\
enable_digipeating {enable_digipeating}\r\n\
\r\n\
@@ -175,6 +178,13 @@ impl Shell {
}
Err(e) => Err(e),
},
+ "min_voltage" => match parse_maybe_f32(value) {
+ Ok(v) => {
+ self.config.min_voltage = v;
+ Ok(())
+ }
+ Err(e) => Err(e),
+ },
"enable_digipeating" => match parse_bool(value) {
Ok(v) => {
self.config.enable_digipeating = v;
@@ -268,7 +278,8 @@ impl Shell {
black_hole: MaybeBlackHole::None,
antenna_height: Maybe::None,
antenna_gain: Maybe::None,
- tx_power: Maybe::Some(30.0)
+ tx_power: Maybe::Some(30.0),
+ min_voltage: Maybe::Some(9.0),
};
self.config.save_to_flash(flash);
diff --git a/src/status.rs b/src/status.rs
index 3406318c45295cf006459f8539ff15bbac252a36..3d9d2bd0acf09a1a37ea725c66e35a7b98856c28 100644
--- a/src/status.rs
+++ b/src/status.rs
@@ -4,4 +4,5 @@ pub enum Status {
Programming(bool),
TxDisabled(bool),
Error(bool),
+ Sleep,
}
diff --git a/src/voltage.rs b/src/voltage.rs
index d6193befe5ebfac59b3f6007761a1518353fcab9..ec69964a4ced13ade918c916fec05041f9eda800 100644
--- a/src/voltage.rs
+++ b/src/voltage.rs
@@ -9,12 +9,17 @@ const FACTOR: f64 = 1.0 / 0.0757856;
pub struct VoltMeter {
pin: Pin<'C', 0, Analog>,
adc: Adc<ADC1>,
+ threshold: Option<f32>,
}
impl VoltMeter {
- pub fn new(pin: Pin<'C', 0, Analog>, mut adc: Adc<ADC1>) -> Self {
+ pub fn new(pin: Pin<'C', 0, Analog>, mut adc: Adc<ADC1>, threshold: Option<f32>) -> Self {
adc.calibrate();
- Self { pin, adc }
+ Self {
+ pin,
+ adc,
+ threshold,
+ }
}
pub fn voltage(&mut self) -> f64 {
@@ -23,4 +28,19 @@ impl VoltMeter {
mv as f64 * FACTOR / 1000.0
}
+
+ pub fn below_threshold(&mut self) -> bool {
+ match self.threshold {
+ Some(v) => self.voltage() < v.into(),
+ None => false,
+ }
+ }
+
+ // 0.1V buffer for hysteresis reasons
+ pub fn above_threshold(&mut self) -> bool {
+ match self.threshold {
+ Some(v) => self.voltage() >= (v + 0.1).into(),
+ None => true,
+ }
+ }
}