output channelization

flight/src/hardware/channelization.rs

@@ -1,2 +1,52 @@
-pub const MCP23017_A_LED: u8 = 7;
+#![allow(dead_code)]
-pub const MCP23017_B_LED: u8 = 7;
+
+use crate::hardware::mcp23017::{Mcp23017, Mcp23017OutputPin};
+use anyhow::Result;
+
+pub const RCS5: PinoutChannel = PinoutChannel::ExtA(0);
+pub const RCS6: PinoutChannel = PinoutChannel::ExtA(1);
+pub const RCS7: PinoutChannel = PinoutChannel::ExtA(2);
+pub const RCS8: PinoutChannel = PinoutChannel::ExtA(3);
+pub const RCS9: PinoutChannel = PinoutChannel::ExtA(4);
+pub const MOTOR0_A: PinoutChannel = PinoutChannel::ExtA(5);
+pub const MOTOR0_B: PinoutChannel = PinoutChannel::ExtA(6);
+pub const LED_A: PinoutChannel = PinoutChannel::ExtA(7);
+pub const RCS0: PinoutChannel = PinoutChannel::ExtA(8);
+pub const RCS1: PinoutChannel = PinoutChannel::ExtA(9);
+pub const DRIVE0_BRAKE: PinoutChannel = PinoutChannel::ExtA(10);
+pub const DRIVE0_DIR: PinoutChannel = PinoutChannel::ExtA(11);
+pub const DRIVE0_DRIVEOFF: PinoutChannel = PinoutChannel::ExtA(12);
+pub const RCS2: PinoutChannel = PinoutChannel::ExtA(13);
+pub const RCS3: PinoutChannel = PinoutChannel::ExtA(14);
+pub const RCS4: PinoutChannel = PinoutChannel::ExtA(15);
+pub const MOTOR1_A: PinoutChannel = PinoutChannel::ExtB(8);
+pub const MOTOR1_B: PinoutChannel = PinoutChannel::ExtB(9);
+pub const MOTOR2_A: PinoutChannel = PinoutChannel::ExtB(10);
+pub const MOTOR2_B: PinoutChannel = PinoutChannel::ExtB(11);
+pub const MOTOR3_A: PinoutChannel = PinoutChannel::ExtB(12);
+pub const MOTOR3_B: PinoutChannel = PinoutChannel::ExtB(13);
+pub const OUT1: PinoutChannel = PinoutChannel::ExtB(14);
+pub const OUT2: PinoutChannel = PinoutChannel::ExtB(15);
+pub const OUT3: PinoutChannel = PinoutChannel::ExtB(0);
+pub const OUT4: PinoutChannel = PinoutChannel::ExtB(1);
+pub const OUT5: PinoutChannel = PinoutChannel::ExtB(2);
+pub const OUT6: PinoutChannel = PinoutChannel::ExtB(3);
+pub const OUT7: PinoutChannel = PinoutChannel::ExtB(4);
+pub const OUT8: PinoutChannel = PinoutChannel::ExtB(5);
+pub const OUT9: PinoutChannel = PinoutChannel::ExtB(6);
+pub const LED_B: PinoutChannel = PinoutChannel::ExtB(7);
+
+#[derive(Copy, Clone, Debug)]
+pub enum PinoutChannel {
+    ExtA(u8),
+    ExtB(u8),
+}
+
+impl PinoutChannel {
+    pub fn new_output_pin<'a, MCP: Mcp23017>(self, ext_a: &'a MCP, ext_b: &'a MCP) -> Result<impl Mcp23017OutputPin + 'a> {
+        match self {
+            PinoutChannel::ExtA(pin) => ext_a.new_output_pin(pin),
+            PinoutChannel::ExtB(pin) => ext_b.new_output_pin(pin),
+        }
+    }
+}

flight/src/hardware/error/wrapping.rs

@@ -1,6 +1,6 @@
+use embedded_hal::i2c::ErrorKind;
 use std::error::Error;
 use std::fmt::{Debug, Display, Formatter};
-use embedded_hal::i2c::ErrorKind;
 
 #[derive(Copy, Clone, Debug)]
 pub struct WrappingError<ERR: Debug>(pub ERR);

flight/src/hardware/mcp3208/mod.rs

@@ -1,8 +1,8 @@
+use crate::hardware::error::WrappingError;
 use anyhow::{ensure, Result};
 use embedded_hal::spi::SpiDevice;
 use log::trace;
 use std::fmt::{Debug, Formatter};
-use crate::hardware::error::WrappingError;
 
 pub struct Mcp3208<SPI> {
     spi: SPI,

flight/src/hardware/mod.rs

@@ -4,10 +4,13 @@ use anyhow::Result;
 use embedded_hal::pwm::SetDutyCycle;
 
 pub trait Hardware {
+    type Mcp23017<'a>: Mcp23017 + Sync
+    where
+        Self: 'a;
     type Pwm: SetDutyCycle<Error: std::error::Error + Sync + Send> + Sync;
 
-    fn new_mcp23017_a(&self) -> Result<impl Mcp23017 + Sync>;
+    fn new_mcp23017_a(&self) -> Result<Self::Mcp23017<'_>>;
-    fn new_mcp23017_b(&self) -> Result<impl Mcp23017 + Sync>;
+    fn new_mcp23017_b(&self) -> Result<Self::Mcp23017<'_>>;
 
     fn new_pwm0(&self) -> Result<Self::Pwm>;
 

flight/src/hardware/raspi/mod.rs

@@ -1,9 +1,10 @@
 mod pwm;
 
-use crate::hardware::mcp23017::{Mcp23017, Mcp23017Driver};
+use crate::hardware::mcp23017::Mcp23017Driver;
 use crate::hardware::mcp3208::Mcp3208;
 use crate::hardware::mct8316a::{Mct8316AVDriver, Mct8316a};
 use crate::hardware::raspi::pwm::PwmWrapper;
+use crate::hardware::sim::mct8316a::SimMct8316a;
 use crate::hardware::Hardware;
 use anyhow::Result;
 use embedded_hal_bus::i2c::MutexDevice;
@@ -15,7 +16,6 @@ use rpi_pal::spi::SimpleHalSpiDevice;
 use rpi_pal::spi::{Bus, Mode, SlaveSelect, Spi};
 use std::cell::RefCell;
 use std::sync::Mutex;
-use crate::hardware::sim::mct8316a::SimMct8316a;
 
 const CLOCK_1MHZ: u32 = 1_000_000;
 
@@ -49,14 +49,15 @@ impl RaspiHardware {
 }
 
 impl Hardware for RaspiHardware {
+    type Mcp23017<'a> = Mcp23017Driver<MutexDevice<'a, I2c>>;
     type Pwm = PwmWrapper;
 
-    fn new_mcp23017_a(&self) -> Result<impl Mcp23017> {
+    fn new_mcp23017_a(&self) -> Result<Self::Mcp23017<'_>> {
         trace!("RaspiHardware::new_mcp23017_a()");
         Ok(Mcp23017Driver::new(MutexDevice::new(&self.i2c_bus), 0b0100000))
     }
 
-    fn new_mcp23017_b(&self) -> Result<impl Mcp23017> {
+    fn new_mcp23017_b(&self) -> Result<Self::Mcp23017<'_>> {
         trace!("RaspiHardware::new_mcp23017_b()");
         Ok(Mcp23017Driver::new(MutexDevice::new(&self.i2c_bus), 0b0100001))
     }

flight/src/hardware/raspi/pwm.rs

@@ -1,8 +1,8 @@
+use crate::hardware::error::WrappingError;
 use embedded_hal::pwm::{ErrorType, SetDutyCycle};
 use log::trace;
 use rpi_pal::pwm::Pwm;
 use std::time::Duration;
-use crate::hardware::error::WrappingError;
 
 const PWM_PERIOD: Duration = Duration::from_micros(1000); // 1kHz
 

flight/src/hardware/sim/hardware.rs

@@ -1,20 +1,19 @@
-
+use crate::hardware::mcp23017::Mcp23017Driver;
-use std::sync::Mutex;
-use crate::hardware::Hardware;
-use crate::hardware::mcp23017::{Mcp23017, Mcp23017Driver};
 use crate::hardware::mct8316a::{Mct8316AVDriver, Mct8316a};
-use anyhow::Result;
-use embedded_hal_bus::i2c::MutexDevice;
-use log::trace;
 use crate::hardware::sim::mcp23017::SimMcp23017;
 use crate::hardware::sim::mct8316a::SimMct8316a;
 use crate::hardware::sim::pwm::SimPwm;
+use crate::hardware::Hardware;
+use anyhow::Result;
+use embedded_hal_bus::i2c::MutexDevice;
+use log::trace;
+use std::sync::Mutex;
 
 pub struct SimHardware {
     mcp23017a: Mutex<SimMcp23017>,
     mcp23017b: Mutex<SimMcp23017>,
     mct8316a: Mutex<SimMct8316a>,
-    battery_voltage: f64
+    battery_voltage: f64,
 }
 
 impl SimHardware {
@@ -29,14 +28,15 @@ impl SimHardware {
 }
 
 impl Hardware for SimHardware {
+    type Mcp23017<'a> = Mcp23017Driver<MutexDevice<'a, SimMcp23017>>;
     type Pwm = SimPwm;
 
-    fn new_mcp23017_a(&self) -> Result<impl Mcp23017 + Sync> {
+    fn new_mcp23017_a(&self) -> Result<Self::Mcp23017<'_>> {
         trace!("SimHardware::new_mcp23017_a()");
         Ok(Mcp23017Driver::new(MutexDevice::new(&self.mcp23017a), 0b0100000))
     }
 
-    fn new_mcp23017_b(&self) -> Result<impl Mcp23017 + Sync> {
+    fn new_mcp23017_b(&self) -> Result<Self::Mcp23017<'_>> {
         trace!("SimHardware::new_mcp23017_b()");
         Ok(Mcp23017Driver::new(MutexDevice::new(&self.mcp23017b), 0b0100000))
     }

flight/src/hardware/sim/mcp23017.rs

@@ -1,15 +1,11 @@
-use std::fmt::{Display, Formatter};
 use embedded_hal::i2c::{ErrorKind, ErrorType, I2c, Operation, SevenBitAddress};
+use std::fmt::{Display, Formatter};
 
-pub struct SimMcp23017 {
+pub struct SimMcp23017 {}
-
-}
 
 impl SimMcp23017 {
     pub fn new() -> Self {
-        Self {
+        Self {}
-
-        }
     }
 }
 

flight/src/hardware/sim/mct8316a.rs

@@ -6,7 +6,7 @@ use std::collections::HashMap;
 const CRC: crc::Crc<u8> = crc::Crc::<u8>::new(&crc::CRC_8_SMBUS);
 
 pub struct SimMct8316a {
-    data: HashMap<u32, u32>
+    data: HashMap<u32, u32>,
 }
 
 impl SimMct8316a {

flight/src/hardware/sim/pwm.rs

@@ -1,6 +1,6 @@
-use std::fmt::{Display, Formatter};
 use embedded_hal::pwm::{ErrorKind, ErrorType, SetDutyCycle};
 use log::trace;
+use std::fmt::{Display, Formatter};
 
 pub struct SimPwm {
     duty_cycle: u16,

flight/src/lib.rs

@@ -1,4 +1,4 @@
-use crate::hardware::channelization::{MCP23017_A_LED, MCP23017_B_LED};
+use crate::hardware::channelization::{LED_A, LED_B};
 use crate::hardware::initialize;
 use crate::hardware::mcp23017::Mcp23017OutputPin;
 use crate::hardware::mcp23017::{Mcp23017, Mcp23017Task};
@@ -61,13 +61,13 @@ pub fn run() -> Result<()> {
         Mcp23017Task::new(&mcp23017_b, "mcp23017-b".into())
             .start(scope, &running, 10)?;
 
-        let mut led_pin_a = mcp23017_a.new_output_pin(MCP23017_A_LED)?;
+        let mut led_pin_a = LED_A.new_output_pin(&mcp23017_a, &mcp23017_b)?;
         led_pin_a.set_state_on_drop(PinState::Low);
-        let mut led_pin_b = mcp23017_b.new_output_pin(MCP23017_B_LED)?;
+        let mut led_pin_b = LED_B.new_output_pin(&mcp23017_a, &mcp23017_b)?;
         led_pin_b.set_state_on_drop(PinState::Low);
 
         info!("Starting Main Loop");
-        loop {
+        for _ in 0..2 {
             debug!("A On");
             led_pin_a.set_state(PinState::High);
             sleep(Duration::from_secs(1));