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Link Board GPS Module #113

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15 changes: 9 additions & 6 deletions boards/communication/src/communication.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -7,10 +7,13 @@
use atsamd_hal::clock::v2::pclk::PclkToken;
use atsamd_hal::clock::v2::types::Can0;
use atsamd_hal::clock::v2::Source;
use atsamd_hal::gpio::{Alternate, AlternateI, Disabled, Floating, Pin, I, PA22, PA23, PB16, PB17};
use atsamd_hal::gpio::{
Alternate, AlternateI, Disabled, Floating, Pin, I, PA08, PA09, PA22, PA23, PB16, PB17,

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unused imports: `PB16`, `PB17` 

warning: unused imports: `PB16`, `PB17`
  --> boards/communication/src/communication.rs:11:80
   |
11 |     Alternate, AlternateI, Disabled, Floating, Pin, I, PA08, PA09, PA22, PA23, PB16, PB17,
   |                                                                                ^^^^  ^^^^
   |
   = note: `#[warn(unused_imports)]` on by default
};
use atsamd_hal::pac::CAN0;
use atsamd_hal::pac::MCLK;
use atsamd_hal::pac::SERCOM0;
use atsamd_hal::pac::SERCOM5;

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unused import: `atsamd_hal::pac::SERCOM5` 

warning: unused import: `atsamd_hal::pac::SERCOM5`
  --> boards/communication/src/communication.rs:16:5
   |
16 | use atsamd_hal::pac::SERCOM5;
   |     ^^^^^^^^^^^^^^^^^^^^^^^^
use atsamd_hal::prelude::_embedded_hal_serial_Read;
use atsamd_hal::sercom;
use atsamd_hal::sercom::uart;
Expand Down Expand Up @@ -59,26 +62,26 @@
}

pub struct CanDevice0 {
pub can: Can<
'static,
Can0,
Dependencies<Can0, Gclk0Id, Pin<PA23, Alternate<I>>, Pin<PA22, Alternate<I>>, CAN0>,
Capacities,
>,

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very complex type used. Consider factoring parts into `type` definitions 

warning: very complex type used. Consider factoring parts into `type` definitions
  --> boards/communication/src/communication.rs:65:14
   |
65 |       pub can: Can<
   |  ______________^
66 | |         'static,
67 | |         Can0,
68 | |         Dependencies<Can0, Gclk0Id, Pin<PA23, Alternate<I>>, Pin<PA22, Alternate<I>>, CAN0>,
69 | |         Capacities,
70 | |     >,
   | |_____^
   |
   = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#type_complexity
   = note: `#[warn(clippy::type_complexity)]` on by default
line_interrupts: OwnedInterruptSet<Can0, EnabledLine0>,
}

impl CanDevice0 {
pub fn new<S>(
can_rx: Pin<PA23, AlternateI>,
can_tx: Pin<PA22, AlternateI>,
pclk_can: Pclk<Can0, Gclk0Id>,
ahb_clock: AhbClk<Can0>,
peripheral: CAN0,
gclk0: S,
can_memory: &'static mut SharedMemory<Capacities>,
loopback: bool,
) -> (Self, S::Inc)

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this function has too many arguments (8/7) 

warning: this function has too many arguments (8/7)
  --> boards/communication/src/communication.rs:75:5
   |
75 | /     pub fn new<S>(
76 | |         can_rx: Pin<PA23, AlternateI>,
77 | |         can_tx: Pin<PA22, AlternateI>,
78 | |         pclk_can: Pclk<Can0, Gclk0Id>,
...  |
83 | |         loopback: bool,
84 | |     ) -> (Self, S::Inc)
   | |_______________________^
   |
   = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#too_many_arguments
   = note: `#[warn(clippy::too_many_arguments)]` on by default
where
S: Source<Id = Gclk0Id> + Increment,
{
Expand Down Expand Up @@ -215,18 +218,18 @@

impl RadioDevice {
pub fn new<S>(
radio_token: PclkToken<SERCOM5>,
radio_token: PclkToken<SERCOM0>,
mclk: &MCLK,
sercom: SERCOM5,
rx_pin: Pin<PB17, Disabled<Floating>>,
tx_pin: Pin<PB16, Disabled<Floating>>,
sercom: SERCOM0,
rx_pin: Pin<PA09, Disabled<Floating>>,
tx_pin: Pin<PA08, Disabled<Floating>>,
gclk0: S,
) -> (Self, S::Inc)
where
S: Source<Id = Gclk0Id> + Increment,
{
let (pclk_radio, gclk0) = Pclk::enable(radio_token, gclk0);
let pads = uart::Pads::<sercom::Sercom5, _>::default()
let pads = uart::Pads::<sercom::Sercom0, _>::default()
.rx(rx_pin)
.tx(tx_pin);
let uart = GroundStationUartConfig::new(mclk, sercom, pads, pclk_radio.freq())
Expand Down Expand Up @@ -296,16 +299,16 @@
// Do we need the header?
match msg {
mavlink::uorocketry::MavMessage::POSTCARD_MESSAGE(msg) => {
return Ok(postcard::from_bytes::<Message>(&msg.message)?);

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unneeded `return` statement 

warning: unneeded `return` statement
   --> boards/communication/src/communication.rs:302:21
    |
302 |                     return Ok(postcard::from_bytes::<Message>(&msg.message)?);
    |                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
    |
    = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#needless_return
    = note: `#[warn(clippy::needless_return)]` on by default
help: remove `return`
    |
302 -                     return Ok(postcard::from_bytes::<Message>(&msg.message)?);
302 +                     Ok(postcard::from_bytes::<Message>(&msg.message)?)
    |
// weird Ok syntax to coerce to hydra error type.
}
_ => {
herror!(Error, ErrorContext::UnkownPostcardMessage);
return Err(mavlink::error::MessageReadError::Io.into());

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unneeded `return` statement 

warning: unneeded `return` statement
   --> boards/communication/src/communication.rs:307:21
    |
307 |                     return Err(mavlink::error::MessageReadError::Io.into());
    |                     ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
    |
    = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#needless_return
help: remove `return`
    |
307 -                     return Err(mavlink::error::MessageReadError::Io.into());
307 +                     Err(mavlink::error::MessageReadError::Io.into())
    |
}
}
} else {
return Err(mavlink::error::MessageReadError::Io.into());

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unneeded `return` statement 

warning: unneeded `return` statement
   --> boards/communication/src/communication.rs:311:13
    |
311 |             return Err(mavlink::error::MessageReadError::Io.into());
    |             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
    |
    = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#needless_return
help: remove `return`
    |
311 -             return Err(mavlink::error::MessageReadError::Io.into());
311 +             Err(mavlink::error::MessageReadError::Io.into())
    |
}
}
}
Expand Down
43 changes: 43 additions & 0 deletions boards/communication/src/gps.rs
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Original file line number Diff line number Diff line change
@@ -0,0 +1,43 @@
use crate::types::*;
use atsamd_hal::clock::v2::gclk::Gclk0Id;
use atsamd_hal::clock::v2::pclk::Pclk;
use atsamd_hal::clock::v2::pclk::PclkToken;
use atsamd_hal::clock::v2::Source;
use atsamd_hal::gpio::{Disabled, Floating, Pin, PA12, PA13};
use atsamd_hal::pac::{MCLK, SERCOM2};
use atsamd_hal::typelevel::Increment;
use atsamd_hal::{
sercom,
sercom::{uart, uart::Duplex, uart::Uart},
};
use systick_monotonic::fugit::RateExtU32;

pub struct GpsDevice {
pub uart: Uart<GpsUartConfig, Duplex>,

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field `uart` is never read 

warning: field `uart` is never read
  --> boards/communication/src/gps.rs:16:9
   |
15 | pub struct GpsDevice {
   |            --------- field in this struct
16 |     pub uart: Uart<GpsUartConfig, Duplex>,
   |         ^^^^
   |
   = note: `#[warn(dead_code)]` on by default
}

impl GpsDevice {
pub fn new<S>(
gps_token: PclkToken<SERCOM2>,
mclk: &MCLK,
sercom: SERCOM2,
rx_pin: Pin<PA13, Disabled<Floating>>,
tx_pin: Pin<PA12, Disabled<Floating>>,
gclk0: S,
) -> (Self, S::Inc)
where
S: Source<Id = Gclk0Id> + Increment,
{
let (pclk_gps, gclk0) = Pclk::enable(gps_token, gclk0);
let pads = uart::Pads::<sercom::Sercom2, _>::default()
.rx(rx_pin)
.tx(tx_pin);
let uart = GpsUartConfig::new(mclk, sercom, pads, pclk_gps.freq())
.baud(
57600.Hz(), // check this
uart::BaudMode::Fractional(uart::Oversampling::Bits16),
)
.enable();
(GpsDevice { uart }, gclk0)
}
}
26 changes: 21 additions & 5 deletions boards/communication/src/main.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,7 @@

mod communication;
mod data_manager;
mod gps;
mod health;
mod types;

Expand Down Expand Up @@ -57,21 +58,22 @@
#[local]
struct Local {
led: Pin<PA05, PushPullOutput>,
gps_device: gps::GpsDevice,

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field `gps_device` is never read 

warning: field `gps_device` is never read
  --> boards/communication/src/main.rs:61:9
   |
61 |         gps_device: gps::GpsDevice,
   |         ^^^^^^^^^^
...
86 |     fn init(cx: init::Context) -> (Shared, Local, init::Monotonics) {
   |                                            ----- field in this struct
sd_manager: SdManager<
Spi<
Config<
Pads<
hal::pac::SERCOM4,
IoSet1,
Pin<PB15, Alternate<C>>,
Pin<PB12, Alternate<C>>,
Pin<PB13, Alternate<C>>,
>,
>,
Duplex,
>,
Pin<PB14, Output<PushPull>>,
>,

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very complex type used. Consider factoring parts into `type` definitions 

warning: very complex type used. Consider factoring parts into `type` definitions
  --> boards/communication/src/main.rs:62:21
   |
62 |           sd_manager: SdManager<
   |  _____________________^
63 | |             Spi<
64 | |                 Config<
65 | |                     Pads<
...  |
75 | |             Pin<PB14, Output<PushPull>>,
76 | |         >,
   | |_________^
   |
   = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#type_complexity
}

#[monotonic(binds = SysTick, default = true)]
Expand Down Expand Up @@ -121,16 +123,26 @@

/* Radio config */
let (radio, gclk0) = RadioDevice::new(
tokens.pclks.sercom5,
tokens.pclks.sercom0,
&mclk,
peripherals.SERCOM5,
pins.pb17,
pins.pb16,
peripherals.SERCOM0,
pins.pa09,
pins.pa08,
gclk0,
);

let radio_manager = RadioManager::new(radio);

/* GPS config */
let (gps_device, gclk0) = gps::GpsDevice::new(
tokens.pclks.sercom2,
&mclk,
peripherals.SERCOM2,
pins.pa13,
pins.pa12,
gclk0,
);

/* SD config */
let (pclk_sd, gclk0) = Pclk::enable(tokens.pclks.sercom4, gclk0);
let pads_spi = spi::Pads::<Sercom4, IoSet1>::default()
Expand Down Expand Up @@ -189,7 +201,11 @@
radio_manager,
can0,
},
Local { led, sd_manager },
Local {
led,
gps_device,
sd_manager,
},
init::Monotonics(mono),
)
}
Expand All @@ -197,7 +213,7 @@
/// Idle task for when no other tasks are running.
#[idle]
fn idle(_: idle::Context) -> ! {
loop {}

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empty `loop {}` wastes CPU cycles 

warning: empty `loop {}` wastes CPU cycles
   --> boards/communication/src/main.rs:216:9
    |
216 |         loop {}
    |         ^^^^^^^
    |
    = help: you should either use `panic!()` or add a call pausing or sleeping the thread to the loop body
    = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#empty_loop
    = note: `#[warn(clippy::empty_loop)]` on by default
}

/// Handles the CAN0 interrupt.
Expand Down Expand Up @@ -247,10 +263,10 @@
let mut buf: [u8; 255] = [0; 255];
let msg_ser = postcard::to_slice_cobs(&m, &mut buf)?;
if let Some(mut file) = manager.file.take() {
manager.write(&mut file, &msg_ser)?;

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this expression creates a reference which is immediately dereferenced by the compiler 

warning: this expression creates a reference which is immediately dereferenced by the compiler
   --> boards/communication/src/main.rs:266:42
    |
266 |                 manager.write(&mut file, &msg_ser)?;
    |                                          ^^^^^^^^ help: change this to: `msg_ser`
    |
    = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#needless_borrow
    = note: `#[warn(clippy::needless_borrow)]` on by default
manager.file = Some(file);
} else if let Ok(mut file) = manager.open_file("log.txt") {
manager.write(&mut file, &msg_ser)?;

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this expression creates a reference which is immediately dereferenced by the compiler 

warning: this expression creates a reference which is immediately dereferenced by the compiler
   --> boards/communication/src/main.rs:269:42
    |
269 |                 manager.write(&mut file, &msg_ser)?;
    |                                          ^^^^^^^^ help: change this to: `msg_ser`
    |
    = help: for further information visit https://rust-lang.github.io/rust-clippy/master/index.html#needless_borrow
manager.file = Some(file);
}
Ok(())
Expand Down
10 changes: 8 additions & 2 deletions boards/communication/src/types.rs
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Original file line number Diff line number Diff line change
@@ -1,6 +1,6 @@
use atsamd_hal::gpio::*;
use atsamd_hal::sercom::uart::EightBit;
use atsamd_hal::sercom::{uart, IoSet1, Sercom5};
use atsamd_hal::sercom::{uart, IoSet1, IoSet3, Sercom0, Sercom2, Sercom4, Sercom5};

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unused imports: `IoSet3`, `Sercom4`, `Sercom5` 

warning: unused imports: `IoSet3`, `Sercom4`, `Sercom5`
 --> boards/communication/src/types.rs:3:40
  |
3 | use atsamd_hal::sercom::{uart, IoSet1, IoSet3, Sercom0, Sercom2, Sercom4, Sercom5};
  |                                        ^^^^^^                    ^^^^^^^  ^^^^^^^
use messages::node::Node;
use messages::node::Node::CommunicationBoard;

Expand All @@ -12,5 +12,11 @@
// -------
// Ground Station
// -------
pub type GroundStationPads = uart::PadsFromIds<Sercom5, IoSet1, PB17, PB16>;
pub type GroundStationPads = uart::PadsFromIds<Sercom0, IoSet1, PA09, PA08>;
pub type GroundStationUartConfig = uart::Config<GroundStationPads, EightBit>;

// -------
// GPS
// -------
pub type GpsPads = uart::PadsFromIds<Sercom2, IoSet1, PA13, PA12>;
pub type GpsUartConfig = uart::Config<GpsPads, EightBit>;
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