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This commit is contained in:
Sergey Savelyev
2025-09-20 10:38:15 -07:00
parent 8e6ed92eea
commit 6d3fbb926e
13 changed files with 72 additions and 70 deletions
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28
flight/src/hardware/bno085/mod.rs
View File

@@ -1,6 +1,7 @@
mod shtp;
use crate::data::reader::{DataBufferReader, DataReader};
use crate::data::writer::{DataBufferWriter, DataWriter};
use crate::hardware::error::{NotAvailableError, SpiError};
use crate::hardware::imu::{Imu, ImuMeasurement};
use anyhow::{anyhow, bail, ensure, Result};
@@ -8,7 +9,6 @@ use chrono::TimeDelta;
use embedded_hal::spi::SpiDevice;
use log::info;
use num_traits::ToPrimitive;
use crate::data::writer::{DataBufferWriter, DataWriter};
const RX_BUFFER_LENGTH: usize = 1024;
@@ -30,15 +30,15 @@ pub struct Bno085<SPI> {
impl<SPI> Bno085<SPI>
where
SPI : SpiDevice<u8>,
SPI::Error : Send,
SPI::Error : Sync,
SPI::Error : 'static,
SPI: SpiDevice<u8>,
SPI::Error: Send,
SPI::Error: Sync,
SPI::Error: 'static,
{
pub fn new(spi: SPI) -> Self {
Self {
spi,
sequence_number: 0u8
sequence_number: 0u8,
}
}
@@ -81,7 +81,7 @@ where
let mut tx = DataBufferWriter::<128>::new();
self.produce_sensor_enable(&tx)?;
self.spi.write( tx.get_buffer()).map_err(SpiError)?;
self.spi.write(tx.get_buffer()).map_err(SpiError)?;
Ok(())
}
@@ -131,7 +131,7 @@ where
fn produce_sensor_enable(
&mut self,
tx: &impl DataWriter
tx: &impl DataWriter,
) -> Result<()> {
let starting_position = tx.get_position();
let length = tx.defer::<u16>()?;
@@ -146,7 +146,7 @@ where
0,
TimeDelta::seconds(1) / 100, // 100Hz
TimeDelta::zero(),
0
0,
)?;
self.produce_set_feature(
tx,
@@ -155,7 +155,7 @@ where
0,
TimeDelta::seconds(1) / 100, // 100Hz
TimeDelta::zero(),
0
0,
)?;
self.produce_set_feature(
tx,
@@ -164,7 +164,7 @@ where
0,
TimeDelta::seconds(1) / 100, // 100Hz
TimeDelta::zero(),
0
0,
)?;
length.set_le((tx.get_position() - starting_position) as u16); // Fill in the length as we finish
@@ -179,7 +179,7 @@ where
change_sensitivity: u16,
report_interval: TimeDelta,
batch_interval: TimeDelta,
configuration_word: u32
configuration_word: u32,
) -> Result<()> {
tx.push_le(SET_FEATURE_REPORT_ID)?;
tx.push_le(feature_report_id)?;
@@ -198,7 +198,7 @@ where
}
}
impl<SPI : SpiDevice> Imu for Bno085<SPI> {
impl<SPI: SpiDevice> Imu for Bno085<SPI> {
fn step(&mut self) -> Result<ImuMeasurement> {
todo!("asd")
}
@@ -206,7 +206,6 @@ impl<SPI : SpiDevice> Imu for Bno085<SPI> {
#[cfg(test)]
mod tests {
use super::*;
use crate::test_utils::SilentDrop;
use embedded_hal_mock::eh1::spi::Mock as SpiMock;
use embedded_hal_mock::eh1::spi::Transaction as SpiTransaction;
@@ -258,7 +257,6 @@ mod tests {
bno.spi.done();
Ok(())
}
}

7
flight/src/hardware/bno085/shtp.rs
View File

@@ -1,21 +1,20 @@
use crate::data::reader::DataReader;
use crate::hardware::error::NotAvailableError;
use anyhow::Result;
pub struct Header {
pub length: u16,
pub channel: u8,
pub sequence_number: u8
pub sequence_number: u8,
}
impl Header {
pub const SIZE: usize = size_of::<u16>() + size_of::<u8>() + size_of::<u8>();
pub fn parse(bytes: &mut impl DataReader) -> Result<Self> {
let length = bytes.read_le::<u16>().ok_or(NotAvailableError)?;
let channel = bytes.read_le::<u8>().ok_or(NotAvailableError)?;
let sequence_number = bytes.read_le::<u8>().ok_or(NotAvailableError)?;
Ok(Self {
length,
channel,

4
flight/src/hardware/error.rs
View File

@@ -10,7 +10,7 @@ impl<ERR: Debug + embedded_hal::i2c::Error> Display for I2cError<ERR> {
}
}
impl<ERR: Debug + embedded_hal::i2c::Error> Error for I2cError<ERR> { }
impl<ERR: Debug + embedded_hal::i2c::Error> Error for I2cError<ERR> {}
#[derive(Copy, Clone, Debug)]
pub struct SpiError<ERR: Debug + embedded_hal::spi::Error>(pub ERR);
@@ -21,7 +21,7 @@ impl<ERR: Debug + embedded_hal::spi::Error> Display for SpiError<ERR> {
}
}
impl<ERR: Debug + embedded_hal::spi::Error> Error for SpiError<ERR> { }
impl<ERR: Debug + embedded_hal::spi::Error> Error for SpiError<ERR> {}
// #[derive(Copy, Clone, Debug)]
// pub struct NotAvailableError;

1
flight/src/hardware/imu/mod.rs
View File

@@ -1,5 +1,4 @@
use nalgebra::Vector3;
use anyhow::Result;
pub struct ImuMeasurement {
pub acceleration: Vector3<f64>,

24
flight/src/hardware/mcp23017/mod.rs
View File

@@ -1,9 +1,9 @@
use std::fmt::{Debug, Formatter};
use std::time::Instant;
use crate::hardware::error::I2cError;
use anyhow::{bail, Result};
use embedded_hal::i2c::I2c;
use log::{info, trace};
use crate::hardware::error::I2cError;
use std::fmt::{Debug, Formatter};
use std::time::Instant;
pub trait Mcp23017 {
fn init(&mut self) -> Result<()>;
@@ -27,9 +27,9 @@ impl<I2C> Debug for Mcp23017Driver<I2C> {
impl<I2C> Mcp23017Driver<I2C>
where
I2C: I2c,
I2C::Error : Send,
I2C::Error : Sync,
I2C::Error : 'static
I2C::Error: Send,
I2C::Error: Sync,
I2C::Error: 'static,
{
pub fn new(i2c: I2C, address: u8) -> Self {
trace!("Mcp23017Driver::new(i2c, address: {address:07b})");
@@ -46,9 +46,9 @@ where
impl<I2C> Mcp23017 for Mcp23017Driver<I2C>
where
I2C: I2c,
I2C::Error : Send,
I2C::Error : Sync,
I2C::Error : 'static
I2C::Error: Send,
I2C::Error: Sync,
I2C::Error: 'static,
{
fn init(&mut self) -> Result<()> {
trace!("Mcp23017Driver::init(self: {self:?})");
@@ -64,10 +64,10 @@ where
let (pin_bank, dirty_flag, pin_index) = match pin {
0..8 => {
(&mut self.bank[0], &mut self.dirty, pin as u32)
},
8 ..16 => {
}
8..16 => {
(&mut self.bank[1], &mut self.dirty, (pin as u32) - 8)
},
}
_ => bail!("Invalid Pin ID"),
};
let pin_mask = 1u8.unbounded_shl(pin_index);

14
flight/src/hardware/mcp3208/mod.rs
View File

@@ -1,12 +1,12 @@
use std::fmt::{Debug, Formatter};
use crate::hardware::error::SpiError;
use anyhow::{ensure, Result};
use embedded_hal::spi::SpiDevice;
use log::trace;
use std::fmt::{Debug, Formatter};
pub struct Mcp3208<SPI> {
spi: SPI,
vref: f64
vref: f64,
}
impl<SPI> Debug for Mcp3208<SPI> {
@@ -17,16 +17,16 @@ impl<SPI> Debug for Mcp3208<SPI> {
impl<SPI> Mcp3208<SPI>
where
SPI : SpiDevice<u8>,
SPI::Error : Send,
SPI::Error : Sync,
SPI::Error : 'static,
SPI: SpiDevice<u8>,
SPI::Error: Send,
SPI::Error: Sync,
SPI::Error: 'static,
{
pub fn new(spi: SPI, vref: f64) -> Self {
trace!("Mcp3208::new(spi, vref: {vref})");
Self {
spi,
vref
vref,
}
}

1
flight/src/hardware/mod.rs
View File

@@ -2,7 +2,6 @@ use crate::hardware::mcp23017::Mcp23017;
use anyhow::Result;
pub trait Hardware {
fn get_mcp23017_a(&self) -> impl Mcp23017;
fn get_mcp23017_b(&self) -> impl Mcp23017;

10
flight/src/hardware/raspi/mod.rs
View File

@@ -1,15 +1,15 @@
use std::cell::RefCell;
use std::sync::Mutex;
use crate::hardware::mcp23017::{Mcp23017, Mcp23017Driver};
use crate::hardware::mcp3208::Mcp3208;
use crate::hardware::Hardware;
use anyhow::Result;
use embedded_hal_bus::i2c::MutexDevice;
use log::{debug, info, trace};
// use rpi_pal::gpio::Gpio;
use rpi_pal::i2c::I2c;
use rpi_pal::spi::{Bus, Mode, SlaveSelect, Spi};
use crate::hardware::mcp23017::{Mcp23017, Mcp23017Driver};
use crate::hardware::mcp3208::Mcp3208;
use rpi_pal::spi::SimpleHalSpiDevice;
use rpi_pal::spi::{Bus, Mode, SlaveSelect, Spi};
use std::cell::RefCell;
use std::sync::Mutex;
const CLOCK_1MHZ: u32 = 1_000_000;