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Add rp2040 for controlling spindle

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Frederik Menke 2023-06-24 19:58:06 +02:00
parent 26218bcbd3
commit 5c0c975a86
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[target.'cfg(all(target_arch = "arm", target_os = "none"))']
# Choose a default "cargo run" tool:
# - probe-run provides flashing and defmt via a hardware debugger, and stack unwind on panic
# - elf2uf2-rs loads firmware over USB when the rp2040 is in boot mode
# - "probe-rs-cli run" is similar to probe-run but it uses the latest probe-rs lib crate
runner = "probe-run --chip RP2040"
# runner = "elf2uf2-rs -d"
# runner = "probe-rs-cli run --chip RP2040 --protocol swd"
rustflags = [
"-C", "linker=flip-link",
"-C", "link-arg=--nmagic",
"-C", "link-arg=-Tlink.x",
"-C", "link-arg=-Tdefmt.x",
# Code-size optimizations.
# trap unreachable can save a lot of space, but requires nightly compiler.
# uncomment the next line if you wish to enable it
# "-Z", "trap-unreachable=no",
"-C", "inline-threshold=5",
"-C", "no-vectorize-loops",
]
[build]
target = "thumbv6m-none-eabi"
[env]
DEFMT_LOG = "debug"

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name: CI Checks
on: [push, pull_request]
env:
CARGO_TERM_COLOR: always
jobs:
building:
name: Building
continue-on-error: ${{ matrix.experimental || false }}
strategy:
matrix:
# All generated code should be running on stable now
rust: [nightly, stable]
include:
# Nightly is only for reference and allowed to fail
- rust: nightly
experimental: true
os:
# Check compilation works on common OSes
# (i.e. no path issues)
- ubuntu-latest
- macOS-latest
- windows-latest
runs-on: ${{ matrix.os }}
steps:
- uses: actions/checkout@v3
- uses: dtolnay/rust-toolchain@master
with:
toolchain: ${{ matrix.rust }}
target: thumbv6m-none-eabi
- run: cargo install flip-link
- run: cargo build --all
- run: cargo build --all --release
linting:
name: Linting
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v3
with:
submodules: true
- uses: dtolnay/rust-toolchain@stable
with:
components: clippy
target: thumbv6m-none-eabi
- run: cargo clippy --all-features -- --deny=warnings
formatting:
name: Formatting
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v3
with:
submodules: true
- uses: dtolnay/rust-toolchain@stable
with:
components: rustfmt
target: thumbv6m-none-eabi
- run: cargo fmt -- --check

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**/*.rs.bk
.#*
.gdb_history
Cargo.lock
target/
# editor files
.vscode/*
!.vscode/*.md
!.vscode/*.svd
!.vscode/launch.json
!.vscode/tasks.json
!.vscode/extensions.json
!.vscode/settings.json

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// The format of this file is specified in https://probe.rs/docs/tools/vscode/#start-a-debug-session-with-minimum-configuration
{
"version": "0.2.0",
"configurations": [
{
"preLaunchTask": "rust: cargo build",
"type": "probe-rs-debug",
"request": "launch",
"name": "rp2040-project",
"cwd": "${workspaceFolder}",
"chip": "rp2040",
// RP2040 doesn't support connectUnderReset
"connectUnderReset": false,
"speed": 4000,
"runtimeExecutable": "probe-rs-debugger",
"runtimeArgs": [
"debug"
],
"flashingConfig": {
"flashingEnabled": true,
"resetAfterFlashing": true,
"haltAfterReset": true,
},
"coreConfigs": [
{
"coreIndex": 0,
"programBinary": "target/thumbv6m-none-eabi/debug/rp2040-project-template",
"chip": "RP2040",
// Uncomment this if you've downloaded the SVD from
// https://github.com/raspberrypi/pico-sdk/raw/1.3.1/src/rp2040/hardware_regs/rp2040.svd
// and placed it in the .vscode directory
// "svdFile": "./.vscode/rp2040.svd",
"rttEnabled": true,
"options": {
"env": {
"DEFMT_LOG": "debug"
}
},
}
],
"consoleLogLevel": "Info", //Error, Warn, Info, Debug, Trace
"wireProtocol": "Swd"
}
]
}

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{
"rust-analyzer.cargo.target": "thumbv6m-none-eabi",
"rust-analyzer.checkOnSave.allTargets": false,
"editor.formatOnSave": true
}

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[package]
edition = "2021"
name = "rp2040-project-template"
version = "0.1.0"
[dependencies]
cortex-m = "0.7"
cortex-m-rt = "0.7"
embedded-hal = { version = "0.2.5", features = ["unproven"] }
defmt = "0.3"
defmt-rtt = "0.4"
panic-probe = { version = "0.3", features = ["print-defmt"] }
# We're using a Pico by default on this template
rp-pico = "0.7"
fugit = "0.3.7"
# but you can use any BSP. Uncomment this to use the pro_micro_rp2040 BSP instead
# sparkfun-pro-micro-rp2040 = "0.6"
# If you're not going to use a Board Support Package you'll need these:
# rp2040-hal = { version="0.8", features=["rt", "critical-section-impl"] }
# rp2040-boot2 = "0.2"
# cargo build/run
[profile.dev]
codegen-units = 1
debug = 2
debug-assertions = true
incremental = false
opt-level = 3
overflow-checks = true
# cargo build/run --release
[profile.release]
codegen-units = 1
debug = 2
debug-assertions = false
incremental = false
lto = 'fat'
opt-level = 3
overflow-checks = false
# do not optimize proc-macro crates = faster builds from scratch
[profile.dev.build-override]
codegen-units = 8
debug = false
debug-assertions = false
opt-level = 0
overflow-checks = false
[profile.release.build-override]
codegen-units = 8
debug = false
debug-assertions = false
opt-level = 0
overflow-checks = false
# cargo test
[profile.test]
codegen-units = 1
debug = 2
debug-assertions = true
incremental = false
opt-level = 3
overflow-checks = true
# cargo test --release
[profile.bench]
codegen-units = 1
debug = 2
debug-assertions = false
incremental = false
lto = 'fat'
opt-level = 3

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[default.probe]
protocol = "Swd"
speed = 20000
# If you only have one probe cargo embed will pick automatically
# Otherwise: add your probe's VID/PID/serial to filter
## rust-dap
# usb_vid = "6666"
# usb_pid = "4444"
# serial = "test"
[default.flashing]
enabled = true
[default.reset]
enabled = true
halt_afterwards = false
[default.general]
chip = "RP2040"
log_level = "WARN"
# RP2040 does not support connect_under_reset
connect_under_reset = false
[default.rtt]
enabled = true
up_mode = "NoBlockSkip"
channels = [
{ up = 0, down = 0, name = "name", up_mode = "NoBlockSkip", format = "Defmt" },
]
timeout = 3000
show_timestamps = true
log_enabled = false
log_path = "./logs"
[default.gdb]
enabled = false
gdb_connection_string = "127.0.0.1:2345"

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MIT License
Copyright (c) 2021 rp-rs organization
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
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THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
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OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.

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# Project template for rp2040-hal
This template is intended as a starting point for developing your own firmware based on the rp2040-hal.
It includes all of the `knurling-rs` tooling as showcased in https://github.com/knurling-rs/app-template (`defmt`, `defmt-rtt`, `panic-probe`, `flip-link`) to make development as easy as possible.
`probe-run` is configured as the default runner, so you can start your program as easy as
```sh
cargo run --release
```
If you aren't using a debugger (or want to use cargo-embed/probe-rs-debugger), check out [alternative runners](#alternative-runners) for other options
<!-- TABLE OF CONTENTS -->
<details open="open">
<summary><h2 style="display: inline-block">Table of Contents</h2></summary>
<ol>
<li><a href="#markdown-header-requirements">Requirements</a></li>
<li><a href="#installation-of-development-dependencies">Installation of development dependencies</a></li>
<li><a href="#running">Running</a></li>
<li><a href="#alternative-runners">Alternative runners</a></li>
<li><a href="#notes-on-using-rp2040_boot2">Notes on using rp2040_boot2</a></li>
<li><a href="#roadmap">Roadmap</a></li>
<li><a href="#contributing">Contributing</a></li>
<li><a href="#code-of-conduct">Code of conduct</a></li>
<li><a href="#license">License</a></li>
<li><a href="#contact">Contact</a></li>
</ol>
</details>
<!-- Requirements -->
<details open="open">
<summary><h2 style="display: inline-block" id="requirements">Requirements</h2></summary>
- The standard Rust tooling (cargo, rustup) which you can install from https://rustup.rs/
- Toolchain support for the cortex-m0+ processors in the rp2040 (thumbv6m-none-eabi)
- flip-link - this allows you to detect stack-overflows on the first core, which is the only supported target for now.
- probe-run. Upstream support for RP2040 was added with version 0.3.1.
- A CMSIS-DAP probe. (J-Link and other probes will not work with probe-run)
You can use a second
[Pico as a CMSIS-DAP debug probe](debug_probes.md#raspberry-pi-pico). Details
on other supported debug probes can be found in
[debug_probes.md](debug_probes.md)
</details>
<!-- Installation of development dependencies -->
<details open="open">
<summary><h2 style="display: inline-block" id="installation-of-development-dependencies">Installation of development dependencies</h2></summary>
```sh
rustup target install thumbv6m-none-eabi
cargo install flip-link
# This is our suggested default 'runner'
cargo install probe-run --locked
# If you want to use elf2uf2-rs instead of probe-run, instead do...
cargo install elf2uf2-rs --locked
```
</details>
<!-- Running -->
<details open="open">
<summary><h2 style="display: inline-block" id="running">Running</h2></summary>
For a debug build
```sh
cargo run
```
For a release build
```sh
cargo run --release
```
If you do not specify a DEFMT_LOG level, it will be set to `debug`.
That means `println!("")`, `info!("")` and `debug!("")` statements will be printed.
If you wish to override this, you can change it in `.cargo/config.toml`
```toml
[env]
DEFMT_LOG = "off"
```
You can also set this inline (on Linux/MacOS)
```sh
DEFMT_LOG=trace cargo run
```
or set the _environment variable_ so that it applies to every `cargo run` call that follows:
#### Linux/MacOS/unix
```sh
export DEFMT_LOG=trace
```
Setting the DEFMT_LOG level for the current session
for bash
```sh
export DEFMT_LOG=trace
```
#### Windows
Windows users can only override DEFMT_LOG through `config.toml`
or by setting the environment variable as a separate step before calling `cargo run`
- cmd
```cmd
set DEFMT_LOG=trace
```
- powershell
```ps1
$Env:DEFMT_LOG = trace
```
```cmd
cargo run
```
</details>
<!-- ALTERNATIVE RUNNERS -->
<details open="open">
<summary><h2 style="display: inline-block" id="alternative-runners">Alternative runners</h2></summary>
If you don't have a debug probe or if you want to do interactive debugging you can set up an alternative runner for cargo.
Some of the options for your `runner` are listed below:
* **cargo embed**
*Step 1* - Install [`cargo embed`](https://github.com/probe-rs/probe-rs/blob/master/cargo-embed):
```console
$ cargo install --locked cargo-embed
```
*Step 2* - Update settings in [Embed.toml](./Embed.toml)
- The defaults are to flash, reset, and start a defmt logging session
You can find all the settings and their meanings [in the cargo-embed repo](https://github.com/probe-rs/probe-rs/blob/master/cargo-embed/src/config/default.toml)
*Step 3* - Use the command `cargo embed`, which will compile the code, flash the device
and start running the configuration specified in Embed.toml
```console
$ cargo embed --release
```
* **probe-rs-debugger**
*Step 1* - Download [`probe-rs-debugger VSCode plugin 0.4.0`](https://github.com/probe-rs/vscode/releases/download/v0.4.0/probe-rs-debugger-0.4.0.vsix)
*Step 2* - Install `probe-rs-debugger VSCode plugin`
```console
$ code --install-extension probe-rs-debugger-0.4.0.vsix
```
*Step 3* - Install `probe-rs-debugger`
```console
$ cargo install probe-rs-debugger
```
*Step 4* - Open this project in VSCode
*Step 5* - Launch a debug session by choosing `Run`>`Start Debugging` (or press F5)
* **probe-rs-cli**
*Step 1* - Install [`probe-rs-cli`](https://crates.io/crates/probe-rs-cli):
```console
$ cargo install probe-rs-cli
```
*Step 2* - Make sure your .cargo/config contains the following
```toml
[target.thumbv6m-none-eabi]
runner = "probe-rs-cli run --chip RP2040 --protocol swd"
```
*Step 3* - Use `cargo run`, which will compile the code and start the
specified 'runner'. As the 'runner' is cargo embed, it will flash the device
and start running immediately
```console
$ cargo run --release
```
* **Loading a UF2 over USB**
*Step 1* - Install [`elf2uf2-rs`](https://github.com/JoNil/elf2uf2-rs):
```console
$ cargo install elf2uf2-rs --locked
```
*Step 2* - Make sure your .cargo/config contains the following
```toml
[target.thumbv6m-none-eabi]
runner = "elf2uf2-rs -d"
```
The `thumbv6m-none-eabi` target may be replaced by the all-Arm wildcard
`'cfg(all(target_arch = "arm", target_os = "none"))'`.
*Step 3* - Boot your RP2040 into "USB Bootloader mode", typically by rebooting
whilst holding some kind of "Boot Select" button. On Linux, you will also need
to 'mount' the device, like you would a USB Thumb Drive.
*Step 4* - Use `cargo run`, which will compile the code and start the
specified 'runner'. As the 'runner' is the elf2uf2-rs tool, it will build a UF2
file and copy it to your RP2040.
```console
$ cargo run --release
```
* **Loading with picotool**
As ELF files produced by compiling Rust code are completely compatible with ELF
files produced by compiling C or C++ code, you can also use the Raspberry Pi
tool [picotool](https://github.com/raspberrypi/picotool). The only thing to be
aware of is that picotool expects your ELF files to have a `.elf` extension, and
by default Rust does not give the ELF files any extension. You can fix this by
simply renaming the file.
This means you can't easily use it as a cargo runner - yet.
Also of note is that the special
[pico-sdk](https://github.com/raspberrypi/pico-sdk) macros which hide
information in the ELF file in a way that `picotool info` can read it out, are
not supported in Rust. An alternative is TBC.
</details>
</details>
<!-- Notes on using rp2040_hal and rp2040_boot2 -->
<details open="open">
<summary><h2 style="display: inline-block" id="notes-on-using-rp2040_boot2">Notes on using rp2040_boot2</h2></summary>
The second-stage boot loader must be written to the .boot2 section. That
is usually handled by the board support package (e.g.`rp-pico`). If you don't use
one, you should initialize the boot loader manually. This can be done by adding the
following to the beginning of main.rs:
```rust
use rp2040_boot2;
#[link_section = ".boot2"]
#[used]
pub static BOOT_LOADER: [u8; 256] = rp2040_boot2::BOOT_LOADER_W25Q080;
```
</details>
<!-- ROADMAP -->
## Roadmap
NOTE These packages are under active development. As such, it is likely to
remain volatile until a 1.0.0 release.
See the [open issues](https://github.com/rp-rs/rp2040-project-template/issues) for a list of
proposed features (and known issues).
## Contributing
Contributions are what make the open source community such an amazing place to be learn, inspire, and create. Any contributions you make are **greatly appreciated**.
The steps are:
1. Fork the Project by clicking the 'Fork' button at the top of the page.
2. Create your Feature Branch (`git checkout -b feature/AmazingFeature`)
3. Make some changes to the code or documentation.
4. Commit your Changes (`git commit -m 'Add some AmazingFeature'`)
5. Push to the Feature Branch (`git push origin feature/AmazingFeature`)
6. Create a [New Pull Request](https://github.com/rp-rs/rp-hal/pulls)
7. An admin will review the Pull Request and discuss any changes that may be required.
8. Once everyone is happy, the Pull Request can be merged by an admin, and your work is part of our project!
## Code of Conduct
Contribution to this crate is organized under the terms of the [Rust Code of
Conduct][CoC], and the maintainer of this crate, the [rp-rs team], promises
to intervene to uphold that code of conduct.
[CoC]: CODE_OF_CONDUCT.md
[rp-rs team]: https://github.com/orgs/rp-rs/teams/rp-rs
## License
The contents of this repository are dual-licensed under the _MIT OR Apache
2.0_ License. That means you can chose either the MIT licence or the
Apache-2.0 licence when you re-use this code. See `MIT` or `APACHE2.0` for more
information on each specific licence.
Any submissions to this project (e.g. as Pull Requests) must be made available
under these terms.
## Contact
Raise an issue: [https://github.com/rp-rs/rp2040-project-template/issues](https://github.com/rp-rs/rp2040-project-template/issues)
Chat to us on Matrix: [#rp-rs:matrix.org](https://matrix.to/#/#rp-rs:matrix.org)

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//! This build script copies the `memory.x` file from the crate root into
//! a directory where the linker can always find it at build time.
//! For many projects this is optional, as the linker always searches the
//! project root directory -- wherever `Cargo.toml` is. However, if you
//! are using a workspace or have a more complicated build setup, this
//! build script becomes required. Additionally, by requesting that
//! Cargo re-run the build script whenever `memory.x` is changed,
//! updating `memory.x` ensures a rebuild of the application with the
//! new memory settings.
use std::env;
use std::fs::File;
use std::io::Write;
use std::path::PathBuf;
fn main() {
// Put `memory.x` in our output directory and ensure it's
// on the linker search path.
let out = &PathBuf::from(env::var_os("OUT_DIR").unwrap());
File::create(out.join("memory.x"))
.unwrap()
.write_all(include_bytes!("memory.x"))
.unwrap();
println!("cargo:rustc-link-search={}", out.display());
// By default, Cargo will re-run a build script whenever
// any file in the project changes. By specifying `memory.x`
// here, we ensure the build script is only re-run when
// `memory.x` is changed.
println!("cargo:rerun-if-changed=memory.x");
}

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# Compatible CMSIS-DAP debug probes
## Raspberry Pi Pico
You can use a second Pico as your debugger.
Download one of these firmware files:
- [picoprobe.uf2](https://github.com/raspberrypi/picoprobe/releases/download/picoprobe-cmsis-v1.02/picoprobe.uf2) -
Official raspberrypi probe firmware supporting CMSIS-DAP. ([Source](https://github.com/raspberrypi/picoprobe))
- [raspberry_pi_pico-DapperMime.uf2](https://github.com/majbthrd/DapperMime/releases/download/20210225/raspberry_pi_pico-DapperMime.uf2) -
Based upon an older version of the CMSIS-DAP sources. ([Source](https://github.com/majbthrd/DapperMime))
- [rust-dap-pico-ramexec-setclock.uf2](https://raw.githubusercontent.com/9names/binary-bits/main/rust-dap-pico-ramexec-setclock.uf2) -
If you have good wiring between your Pico's, this firmware will give faster
programming. (Inofficial build by [@9names](https://github.com/9names/).) ([Source](https://github.com/ciniml/rust-dap))
Then:
1. Put the Pico into USB Mass Storage Mode by holding the BOOTSEL button while connecting it to your computer with a USB cable
2. Open the drive RPI-RP2 when prompted
3. Copy the uf2 firmware file from Downloads into RPI-RP2
4. Connect the debug pins of your CMSIS-DAP Pico to the target one
- Connect GP2 on the Probe to SWCLK on the Target
- Connect GP3 on the Probe to SWDIO on the Target
- Connect a ground line from the CMSIS-DAP Probe to the Target too
## WeAct MiniF4
https://therealprof.github.io/blog/usb-c-pill-part1/
## HS-Probe
https://github.com/probe-rs/hs-probe
## ST-LINK v2 clone
It's getting harder to source these with stm32f103's as time goes on, so you might be better off choosing a stm32f103 dev board
Firmware: https://github.com/devanlai/dap42
## LPC-Link2
https://www.nxp.com/design/microcontrollers-developer-resources/lpc-link2:OM13054
## MCU-Link
https://www.nxp.com/part/MCU-LINK#/
## DAPLink
You can use DAPLink firmware with any of it's supported chips (LPC4322, LPC11U35, K20, K22, KL26). You'll need to use the 'develop' branch to use GCC to build it. You'll need to find a chip with the correct
Firmware source: https://github.com/ARMmbed/DAPLink/tree/develop

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MEMORY {
BOOT2 : ORIGIN = 0x10000000, LENGTH = 0x100
FLASH : ORIGIN = 0x10000100, LENGTH = 2048K - 0x100
RAM : ORIGIN = 0x20000000, LENGTH = 256K
}
EXTERN(BOOT2_FIRMWARE)
SECTIONS {
/* ### Boot loader */
.boot2 ORIGIN(BOOT2) :
{
KEEP(*(.boot2));
} > BOOT2
} INSERT BEFORE .text;

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//! Blinks the LED on a Pico board
//!
//! This will blink an LED attached to GP25, which is the pin the Pico uses for the on-board LED.
#![no_std]
#![no_main]
use bsp::{entry, hal::pwm::FreeRunning};
use defmt::*;
use defmt_rtt as _;
use panic_probe as _;
use rp_pico::hal;
// Provide an alias for our BSP so we can switch targets quickly.
// Uncomment the BSP you included in Cargo.toml, the rest of the code does not need to change.
use rp_pico as bsp;
use bsp::hal::{
clocks::{init_clocks_and_plls, Clock},
pac,
pwm::Slices,
sio::Sio,
watchdog::Watchdog,
};
/// Size of the i2c receive FIFO in bytes
const I2C_RECV_FIFO_SIZE: usize = 16;
// Which registers can be written over i2c
mod i2c_registers {
// Spindle speed from 0 to 65535 as 2 bytes
pub const SPINDLE_SPEED: u8 = 0;
}
enum I2CMessage {
SpindleSpeed(u16),
}
#[entry]
fn main() -> ! {
info!("Program start");
let mut pac = pac::Peripherals::take().unwrap();
let core = pac::CorePeripherals::take().unwrap();
let mut watchdog = Watchdog::new(pac.WATCHDOG);
let sio = Sio::new(pac.SIO);
// External high-speed crystal on the pico board is 12Mhz
let external_xtal_freq_hz = 12_000_000u32;
let clocks = init_clocks_and_plls(
external_xtal_freq_hz,
pac.XOSC,
pac.CLOCKS,
pac.PLL_SYS,
pac.PLL_USB,
&mut pac.RESETS,
&mut watchdog,
)
.ok()
.unwrap();
let mut delay = cortex_m::delay::Delay::new(core.SYST, clocks.system_clock.freq().to_Hz());
let pins = bsp::Pins::new(
pac.IO_BANK0,
pac.PADS_BANK0,
sio.gpio_bank0,
&mut pac.RESETS,
);
let mut i2c = hal::I2C::new_peripheral_event_iterator(
pac.I2C1,
pins.gpio18.into_mode(),
pins.gpio19.into_mode(),
&mut pac.RESETS,
25,
);
let pwm_slices = Slices::new(pac.PWM, &mut pac.RESETS);
let mut pwm = pwm_slices.pwm1;
info!("Top: {}", pwm.get_top());
pwm.set_ph_correct();
pwm.enable();
let pwm = pwm.into_mode::<FreeRunning>();
let mut channel_b = pwm.channel_b;
use embedded_hal::PwmPin;
let _channel_pin_b_3 = channel_b.output_to(pins.gpio3);
channel_b.set_duty(u16::MAX);
channel_b.enable();
info!("PWM enabled");
let mut iter_counter = 1;
loop {
use hal::i2c::peripheral::I2CEvent;
let read_bytes = match i2c.next() {
None => None,
Some(I2CEvent::Stop) => {
info!("Stop");
None
}
Some(I2CEvent::Start) => {
info!("Start");
None
}
Some(I2CEvent::TransferWrite) => {
info!("Start");
let mut buf = [0; I2C_RECV_FIFO_SIZE];
let read_count = i2c.read(&mut buf);
if read_count >= buf.len() {
error!(
"Hit i2c receive FIFO limit: read {} bytes of data from I2C, ignoring transfer.",
I2C_RECV_FIFO_SIZE
);
// empty out i2c recv FIFO
while let 1.. = i2c.read(&mut buf) {}
None
} else {
info!("read {} bytes", read_count);
info!("content: {:?}", buf);
Some(buf)
}
}
Some(_) => {
info!("something");
None
}
};
read_bytes
.and_then(|bytes| parse_i2c_message(&bytes).ok())
.map(|message| {
if let I2CMessage::SpindleSpeed(duty) = message {
channel_b.set_duty(duty);
info!("Duty: {}", channel_b.get_duty());
}
});
delay.delay_ms(10);
}
}
fn parse_i2c_message(bytes: &[u8]) -> Result<I2CMessage, ()> {
if bytes.len() == 0 {
error!("Can't parse empty buffer!");
return Err(());
}
if bytes.len() >= 3 && bytes[0] == i2c_registers::SPINDLE_SPEED {
let speed_lower: u16 = bytes[1].into();
let speed_higher: u16 = bytes[2].into();
let speed = (speed_higher << 8) + speed_lower;
Ok(I2CMessage::SpindleSpeed(speed))
} else {
error!("could not parse i2c message: {}", bytes);
Err(())
}
}