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cleans up lifetimes and ownership

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This commit is contained in:
Sergey Savelyev
2025-09-20 10:38:02 -07:00
parent 91c749f8fc
commit 8e6ed92eea
8 changed files with 134 additions and 44 deletions
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25
Cargo.lock generated
View File

@@ -85,6 +85,12 @@ version = "0.8.7"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "773648b94d0e5d620f64f280777445740e61fe701025087ec8b57f45c791888b"
[[package]]
name = "critical-section"
version = "1.2.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "790eea4361631c5e7d22598ecd5723ff611904e3344ce8720784c93e3d83d40b"
[[package]]
name = "embedded-hal"
version = "0.2.7"
@@ -101,6 +107,16 @@ version = "1.0.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "361a90feb7004eca4019fb28352a9465666b24f840f5c3cddf0ff13920590b89"
[[package]]
name = "embedded-hal-bus"
version = "0.3.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "513e0b3a8fb7d3013a8ae17a834283f170deaf7d0eeab0a7c1a36ad4dd356d22"
dependencies = [
"critical-section",
"embedded-hal 1.0.0",
]
[[package]]
name = "embedded-hal-mock"
version = "0.11.1"
@@ -243,13 +259,14 @@ dependencies = [
"anyhow",
"chrono",
"embedded-hal 1.0.0",
"embedded-hal-bus",
"embedded-hal-mock",
"fern",
"hex",
"log",
"nalgebra",
"num-traits",
"rppal",
"rpi-pal",
"thiserror",
]
@@ -401,10 +418,10 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "60a357793950651c4ed0f3f52338f53b2f809f32d83a07f72909fa13e4c6c1e3"
[[package]]
name = "rppal"
version = "0.22.1"
name = "rpi-pal"
version = "0.22.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "c1ce3b019009cff02cb6b0e96e7cc2e5c5b90187dc1a490f8ef1521d0596b026"
checksum = "aed1991fa7d497e81f82b7eac494ad7d1f58d3b5f7fd1a13e30867375dfbc553"
dependencies = [
"embedded-hal 0.2.7",
"embedded-hal 1.0.0",

5
flight/Cargo.toml
View File

@@ -9,8 +9,9 @@ fern = "0.7.1"
log = "0.4.27"
chrono = "0.4.40"
embedded-hal = "1.0.0"
embedded-hal-bus = { version = "0.3.0", features = ["std"] }
embedded-hal-mock = { version = "0.11.1", optional = true }
rppal = { version = "0.22.1", features = ["hal"], optional = true }
rpi-pal = { version = "0.22.2", features = ["hal"], optional = true }
nalgebra = "0.33.2"
hex = "0.4.3"
thiserror = "2.0.12"
@@ -20,5 +21,5 @@ num-traits = "0.2.19"
embedded-hal-mock = { version = "0.11.1" }
[features]
raspi = ["dep:rppal"]
raspi = ["dep:rpi-pal"]
sim = ["dep:embedded-hal-mock"]

43
flight/src/hardware/mcp23017/mod.rs
View File

@@ -1,15 +1,30 @@
use std::fmt::{Debug, Formatter};
use std::time::Instant;
use anyhow::{bail, Result};
use embedded_hal::i2c::I2c;
use log::{info, trace};
use crate::hardware::error::I2cError;
pub struct Mcp23017<I2C> {
pub trait Mcp23017 {
fn init(&mut self) -> Result<()>;
fn set_pin(&mut self, pin: u8, value: bool) -> Result<()>;
fn flush(&mut self) -> Result<()>;
}
pub struct Mcp23017Driver<I2C> {
i2c: I2C,
address: u8,
bank: [u8; 2],
dirty: bool,
}
impl<I2C> Mcp23017<I2C>
impl<I2C> Debug for Mcp23017Driver<I2C> {
fn fmt(&self, f: &mut Formatter<'_>) -> std::fmt::Result {
write!(f, "Mcp23017Driver {{ address: {} }}", self.address)
}
}
impl<I2C> Mcp23017Driver<I2C>
where
I2C: I2c,
I2C::Error : Send,
@@ -17,6 +32,7 @@ where
I2C::Error : 'static
{
pub fn new(i2c: I2C, address: u8) -> Self {
trace!("Mcp23017Driver::new(i2c, address: {address:07b})");
Self {
i2c,
address,
@@ -24,12 +40,27 @@ where
dirty: false,
}
}
}
impl<I2C> Mcp23017 for Mcp23017Driver<I2C>
where
I2C: I2c,
I2C::Error : Send,
I2C::Error : Sync,
I2C::Error : 'static
{
fn init(&mut self) -> Result<()> {
trace!("Mcp23017Driver::init(self: {self:?})");
// Set each pin as an output (Addresses 0x00 & 0x01)
let data: [u8; _] = [0x00, 0x00, 0x00];
self.i2c.write(self.address, &data).map_err(I2cError)?;
pub fn init(&self) -> Result<()> {
Ok(())
}
pub fn set_pin(&mut self, pin: u8, value: bool) -> Result<()> {
fn set_pin(&mut self, pin: u8, value: bool) -> Result<()> {
trace!("Mcp23017Driver::set_pin(self: {self:?}, pin: {pin}, value: {value})");
let (pin_bank, dirty_flag, pin_index) = match pin {
0..8 => {
(&mut self.bank[0], &mut self.dirty, pin as u32)
@@ -53,9 +84,11 @@ where
Ok(())
}
pub fn flush(&mut self) -> Result<()> {
fn flush(&mut self) -> Result<()> {
trace!("Mcp23017Driver::flush(self: {self:?})");
if self.dirty {
let data: [u8; _] = [0x12, self.bank[0], self.bank[1]];
// This blocks while writing
self.i2c.write(self.address, &data).map_err(I2cError)?;
}
Ok(())

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

@@ -1,12 +1,20 @@
use embedded_hal::spi::{Operation, SpiDevice};
use anyhow::{ensure, Result};
use std::fmt::{Debug, Formatter};
use crate::hardware::error::SpiError;
use anyhow::{ensure, Result};
use embedded_hal::spi::SpiDevice;
use log::trace;
pub struct Mcp3208<SPI> {
spi: SPI,
vref: f64
}
impl<SPI> Debug for Mcp3208<SPI> {
fn fmt(&self, f: &mut Formatter<'_>) -> std::fmt::Result {
write!(f, "Mcp3208 {{ vref: {} }}", self.vref)
}
}
impl<SPI> Mcp3208<SPI>
where
SPI : SpiDevice<u8>,
@@ -15,6 +23,7 @@ where
SPI::Error : 'static,
{
pub fn new(spi: SPI, vref: f64) -> Self {
trace!("Mcp3208::new(spi, vref: {vref})");
Self {
spi,
vref
@@ -22,6 +31,7 @@ where
}
pub fn read_single(&mut self, channel: u8) -> Result<f64> {
trace!("Mcp3208::read_single(self: {self:?}, channel: {channel})");
ensure!(channel < 8, "Invalid Channel {channel}");
// We don't care what the third byte written is

9
flight/src/hardware/mod.rs
View File

@@ -1,8 +1,11 @@
use crate::hardware::mcp23017::Mcp23017;
use anyhow::Result;
use embedded_hal::i2c::I2c;
pub trait Hardware {
fn set_mcp0_pin(&self, pin: u8, value: bool) -> Result<()>;
fn get_mcp23017_a(&self) -> impl Mcp23017;
fn get_mcp23017_b(&self) -> impl Mcp23017;
fn get_battery_voltage(&self) -> Result<f64>;
}
@@ -34,5 +37,5 @@ mod bno085;
mod imu;
mod error;
mod mcp23017;
pub mod mcp23017;
mod mcp3208;

41
flight/src/hardware/raspi/mod.rs
View File

@@ -1,49 +1,52 @@
use std::cell::RefCell;
use std::sync::Mutex;
use crate::hardware::Hardware;
use anyhow::Result;
use embedded_hal::i2c::SevenBitAddress;
use log::{debug, info};
use rppal::gpio::Gpio;
use rppal::i2c::I2c;
use rppal::spi::{Bus, Mode, SlaveSelect, Spi};
use crate::hardware::mcp23017::Mcp23017;
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 rppal::spi::SimpleHalSpiDevice;
use rpi_pal::spi::SimpleHalSpiDevice;
const CLOCK_1MHZ: u32 = 1_000_000;
pub struct RaspiHardware {
gpio: Gpio,
mcp23017_a: RefCell<Mcp23017<I2c>>,
// gpio: Gpio,
i2c_bus: Mutex<I2c>,
mcp3208: RefCell<Mcp3208<SimpleHalSpiDevice>>,
}
impl RaspiHardware {
pub fn new() -> Result<Self> {
let device = rppal::system::DeviceInfo::new()?;
trace!("RaspiHardware::new()");
let device = rpi_pal::system::DeviceInfo::new()?;
info!("Running on {}", device.model());
debug!("SOC: {}", device.soc());
let mut i2c = I2c::with_bus(1u8)?;
i2c.set_timeout(1000)?;
Ok(Self {
gpio: Gpio::new()?,
mcp23017_a: Mcp23017::new(i2c, 0b0100000).into(),
// gpio: Gpio::new()?,
i2c_bus: Mutex::new(I2c::with_bus(0u8)?),
mcp3208: Mcp3208::new(SimpleHalSpiDevice::new(Spi::new(
Bus::Spi1,
SlaveSelect::Ss1,
CLOCK_1MHZ,
Mode::Mode0,
)?), 3.3f64).into()
)?), 3.3f64).into(),
})
}
}
impl Hardware for RaspiHardware {
fn set_mcp0_pin(&self, pin: u8, value: bool) -> Result<()> {
self.mcp23017_a.borrow_mut().set_pin(pin, value)?;
self.mcp23017_a.borrow_mut().flush()
fn get_mcp23017_a(&self) -> impl Mcp23017 {
Mcp23017Driver::new(MutexDevice::new(&self.i2c_bus), 0b0100000)
}
fn get_mcp23017_b(&self) -> impl Mcp23017 {
Mcp23017Driver::new(MutexDevice::new(&self.i2c_bus), 0b0100001)
}
fn get_battery_voltage(&self) -> Result<f64> {

37
flight/src/lib.rs
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@@ -5,6 +5,7 @@ use crate::logger::setup_logger;
use anyhow::Result;
use log::info;
use crate::hardware::Hardware;
use crate::hardware::mcp23017::Mcp23017;
mod hardware;
mod logger;
@@ -18,14 +19,36 @@ pub fn run() -> Result<()> {
let hal = initialize()?;
for i in 0..100 {
sleep(Duration::from_millis(1000));
info!("Battery Voltage: {}", hal.get_battery_voltage()?);
}
let mut mcp23017_a = hal.get_mcp23017_a();
let mut mcp23017_b = hal.get_mcp23017_b();
// hal.set_mcp0_pin(15u8, true)?;
// sleep(Duration::from_secs(1));
// hal.set_mcp0_pin(15u8, false)?;
info!("Battery Voltage: {}", hal.get_battery_voltage()?);
mcp23017_a.init()?;
mcp23017_b.init()?;
mcp23017_a.set_pin(7u8, true)?;
mcp23017_a.flush()?;
sleep(Duration::from_secs(1));
mcp23017_b.set_pin(7u8, true)?;
mcp23017_b.flush()?;
sleep(Duration::from_secs(1));
mcp23017_a.set_pin(7u8, false)?;
mcp23017_a.flush()?;
sleep(Duration::from_secs(1));
mcp23017_b.set_pin(7u8, false)?;
mcp23017_b.flush()?;
// Explicitly drop these to allow the borrow checker to be sure that
// dropping the hal is safe
drop(mcp23017_a);
drop(mcp23017_b);
drop(hal);

4
flight/src/logger.rs
View File

@@ -2,7 +2,7 @@ use anyhow::Result;
use std::env;
use std::fs::create_dir_all;
use std::str::FromStr;
use log::trace;
use log::debug;
pub fn setup_logger() -> Result<()> {
let log_file = env::var("LOG_FILE").or_else(|_| {
@@ -37,6 +37,6 @@ pub fn setup_logger() -> Result<()> {
.chain(fern::log_file(log_file.clone())?)
.apply()?;
trace!("Logging to {} at level {}", log_file, log_level);
debug!("Logging to {} at level {}", log_file, log_level);
Ok(())
}