adjusted logging

michaelkamprath · Sep 30, 2024 · 2fc1f94 · 2fc1f94
1 parent 20047ab
commit 2fc1f94
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Showing 5 changed files with 55 additions and 62 deletions.
diff --git a/.cargo/config.toml b/.cargo/config.toml
@@ -27,4 +27,4 @@ rustflags = [
 target = "thumbv6m-none-eabi"
 
 [env]
-DEFMT_LOG = "debug"
+DEFMT_LOG = "info"
diff --git a/Cargo.toml b/Cargo.toml
@@ -36,11 +36,11 @@ rp-pico = "0.9"
 # sparkfun-pro-micro-rp2040 = "0.7"
 
 # If you're not going to use a Board Support Package you'll need these:
-rp2040-hal = { version = "0.10", features = [
-    "rt",
-    "critical-section-impl",
-    "defmt",
-] }
+# rp2040-hal = { version = "0.10", features = [
+#     "rt",
+#     "critical-section-impl",
+#     "defmt",
+# ] }
 # rp2040-boot2 = "0.3"
 
 # cargo build/run
@@ -99,5 +99,3 @@ opt-level = 3
 mpu6050 = { path = "../mpu6050" }
 
 [patch.crates-io]
-mcp230xx = { path = "../mcp230xx" }
-shared-bus = { path = "../shared-bus" }
diff --git a/src/main.rs b/src/main.rs
@@ -5,45 +5,36 @@ mod model;
 mod robot;
 mod system;
 
-use bsp::{
-    entry,
-    hal::{fugit::HertzU32, gpio},
-};
 use core::cell::RefCell;
 use defmt::{error, info, panic};
 use defmt_rtt as _;
 use embedded_alloc::LlffHeap as Heap;
 use panic_probe as _;
-use rp2040_hal::{
-    gpio::{
-        bank0::{Gpio0, Gpio2, Gpio3},
-        FunctionI2C, FunctionSpi, Pin, PullDown, PullUp,
-    },
-    pac::SPI0,
-};
 
 // 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 sparkfun_pro_micro_rp2040 as bsp;
-
+use crate::robot::Robot;
+use bsp::{
+    entry,
+    hal::fugit::HertzU32,
+    hal::{
+        clocks::{init_clocks_and_plls, Clock},
+        gpio::{FunctionI2C, Pin, PullUp},
+        pac,
+        pwm::Slices,
+        sio::Sio,
+        watchdog::Watchdog,
+    },
+};
+use driver::Driver;
+use system::millis::init_millis;
 extern crate alloc;
 
 #[global_allocator]
 static HEAP: Heap = Heap::empty();
 
-use bsp::hal::{
-    clocks::{init_clocks_and_plls, Clock},
-    pac,
-    pwm::Slices,
-    sio::Sio,
-    watchdog::Watchdog,
-};
-
-use crate::robot::Robot;
-use driver::Driver;
-use system::millis::init_millis;
-
 #[entry]
 fn main() -> ! {
     // Initialize the allocator BEFORE you use it
@@ -117,22 +108,26 @@ fn main() -> ! {
 
     // set up SPI
     #[allow(clippy::type_complexity)]
-    let spi: rp_pico::hal::Spi<
-        rp_pico::hal::spi::Disabled,
-        SPI0,
-        (
-            rp_pico::hal::gpio::Pin<Gpio3, FunctionSpi, PullDown>,
-            rp_pico::hal::gpio::Pin<Gpio0, FunctionSpi, PullDown>,
-            rp_pico::hal::gpio::Pin<Gpio2, FunctionSpi, PullDown>,
-        ),
-    > = bsp::hal::Spi::new(
-        pac.SPI0,
-        (
-            pins.gpio3.into_function::<gpio::FunctionSpi>(),
-            pins.gpio0.into_function::<gpio::FunctionSpi>(),
-            pins.gpio2.into_function::<gpio::FunctionSpi>(),
-        ),
-    );
+    // let spi: rp_pico::hal::Spi<
+    //     rp_pico::hal::spi::Disabled,
+    //     SPI0,
+    //     (
+    //         rp_pico::hal::gpio::Pin<Gpio3, FunctionSpi, PullDown>,
+    //         rp_pico::hal::gpio::Pin<Gpio0, FunctionSpi, PullDown>,
+    //         rp_pico::hal::gpio::Pin<Gpio2, FunctionSpi, PullDown>,
+    //     ),
+    // > = bsp::hal::Spi::new(
+    //     pac.SPI0,
+    //     (
+    //         pins.gpio3.into_function::<gpio::FunctionSpi>(),
+    //         pins.gpio0.into_function::<gpio::FunctionSpi>(),
+    //         pins.gpio2.into_function::<gpio::FunctionSpi>(),
+    //     ),
+    // );
+    let spi_mosi = pins.gpio3.into_function::<bsp::hal::gpio::FunctionSpi>();
+    let spi_miso = pins.gpio0.into_function::<bsp::hal::gpio::FunctionSpi>();
+    let spi_sclk = pins.gpio2.into_function::<bsp::hal::gpio::FunctionSpi>();
+    let spi = bsp::hal::spi::Spi::<_, _, _, 8>::new(pac.SPI0, (spi_mosi, spi_miso, spi_sclk));
 
     // Exchange the uninitialised SPI driver for an initialised one
     let spi = spi.init(
@@ -155,7 +150,7 @@ fn main() -> ! {
     match sd.spi(|spi| {
         spi.bus.set_baudrate(
             clocks.peripheral_clock.freq(),
-            HertzU32::from_raw(20_000_000),
+            HertzU32::from_raw(16_000_000),
         )
     }) {
         Some(speed) => {

diff --git a/src/robot/file_storage.rs b/src/robot/file_storage.rs
@@ -5,7 +5,7 @@ pub mod sd_file;
 
 use alloc::{rc::Rc, string::ToString, vec::Vec};
 use core::cell::RefCell;
-use defmt::{debug, error, info};
+use defmt::{debug, error, info, trace};
 use embedded_hal::{delay::DelayNs, spi::SpiDevice};
 use embedded_sdmmc::{
     DirEntry, Mode, RawDirectory, RawVolume, SdCard, SdCardError, TimeSource, Timestamp, VolumeIdx,
@@ -67,7 +67,7 @@ where
             }
         }
 
-        debug!("Getting Volume 0...");
+        trace!("Getting Volume 0...");
         let volume = match volume_mgr.open_volume(VolumeIdx(0)) {
             Ok(v) => v,
             Err(e) => {

diff --git a/src/robot/file_storage/sd_card_spi_device.rs b/src/robot/file_storage/sd_card_spi_device.rs
@@ -1,4 +1,4 @@
-use defmt::{debug, error};
+use defmt::{error, trace};
 use embedded_hal::{
     delay::DelayNs,
     digital::OutputPin,
@@ -52,59 +52,59 @@ where
     DELAY: DelayNs,
 {
     fn transaction(&mut self, operations: &mut [Operation<'_, u8>]) -> Result<(), Self::Error> {
-        debug!(
+        trace!(
             "SDCardSPIDevice::transaction - operations.len = {}",
             operations.len()
         );
         // Implement the SPI transaction here
-        if self.cs.set_high().is_err() {
+        if self.cs.set_low().is_err() {
             return Err(SDCardSPIDeviceError::ChipSelect);
         }
         for operation in operations {
             if let Err(_e) = match operation {
                 Operation::Write(data) => {
-                    debug!(
+                    trace!(
                         "SDCardSPIDevice::transaction - write data.len = {}",
                         data.len()
                     );
                     self.bus.write(data)
                 }
                 Operation::Transfer(read_buf, write_buf) => {
-                    debug!("SDCardSPIDevice::transaction - transfer read_buf.len = {}, write_buf.len = {}", read_buf.len(), write_buf.len());
+                    trace!("SDCardSPIDevice::transaction - transfer read_buf.len = {}, write_buf.len = {}", read_buf.len(), write_buf.len());
                     self.bus.transfer(read_buf, write_buf)
                 }
                 Operation::Read(data) => {
-                    debug!(
+                    trace!(
                         "SDCardSPIDevice::transaction - read data.len = {}",
                         data.len()
                     );
                     self.bus.read(data)
                 }
                 Operation::TransferInPlace(data) => {
-                    debug!(
+                    trace!(
                         "SDCardSPIDevice::transaction - transfer_in_place data.len = {}",
                         data.len()
                     );
                     self.bus.transfer_in_place(data)
                 }
                 Operation::DelayNs(time) => {
-                    debug!("SDCardSPIDevice::transaction - delay_ns time = {}", time);
+                    trace!("SDCardSPIDevice::transaction - delay_ns time = {}", time);
                     self.delay.delay_ns(*time);
                     Ok(())
                 }
             } {
                 // iff an error accurs, deassert CS pin and return error
-                self.cs.set_low().ok();
+                self.cs.set_high().ok();
                 error!("SDCardSPIDevice::transaction - error");
                 return Err(SDCardSPIDeviceError::Spi);
             }
         }
         if self.bus.flush().is_err() {
-            self.cs.set_low().ok();
+            self.cs.set_high().ok();
             error!("SDCardSPIDevice::transaction - flush error");
             return Err(SDCardSPIDeviceError::Spi);
         }
-        if self.cs.set_low().is_err() {
+        if self.cs.set_high().is_err() {
             error!("SDCardSPIDevice::transaction - chip select error");
             return Err(SDCardSPIDeviceError::ChipSelect);
         }