veloxity_core/
board.rs

1use crate::{
2    comm::messages::messages::DownlinkMessage, errors, math::FlightFloat, params::Params,
3    sensors::SensorBus,
4};
5pub mod dummy;
6
7#[derive(Debug, Clone, Copy, Default, PartialEq, Eq)]
8pub struct BackupData {
9    pub error_code: u32,
10    pub pc: u32,
11    pub reset_count: u32,
12    pub do_rearm: u32,
13}
14
15#[derive(Debug, Clone, Copy, Default, PartialEq, Eq, PartialOrd, Ord)]
16pub struct SerialTxPriority(pub u8);
17
18impl SerialTxPriority {
19    pub const REPLACEABLE_TELEMETRY: Self = Self(32);
20    pub const DEFAULT: Self = Self(128);
21    pub const CRITICAL: Self = Self(224);
22}
23
24pub type SerialRxPriority = SerialTxPriority;
25
26pub const SERIAL_RX_FRAME_MAX_BYTES: usize = 280;
27
28#[derive(Debug, Clone, Copy, PartialEq, Eq)]
29pub struct SerialRxFrame {
30    pub data: [u8; SERIAL_RX_FRAME_MAX_BYTES],
31    pub len: usize,
32}
33
34impl SerialRxFrame {
35    pub const fn empty() -> Self {
36        Self {
37            data: [0; SERIAL_RX_FRAME_MAX_BYTES],
38            len: 0,
39        }
40    }
41}
42
43impl Default for SerialRxFrame {
44    fn default() -> Self {
45        Self::empty()
46    }
47}
48
49pub trait BoardIo {
50    fn update_sensor_bus<R: FlightFloat>(&mut self, sensors: &mut SensorBus<R>) {
51        sensors.clear();
52    }
53    fn imu_pending(&self) -> bool {
54        false
55    }
56    fn update_imu_sensor<R: FlightFloat>(&mut self, sensors: &mut SensorBus<R>) {
57        self.update_sensor_bus(sensors);
58    }
59    fn update_service_sensor_bus<R: FlightFloat>(&mut self, sensors: &mut SensorBus<R>) {
60        self.update_sensor_bus(sensors);
61    }
62    fn serial_rx_read(&mut self, buf: &mut [u8]) -> Option<Result<usize, errors::TelemError>>;
63    fn serial_tx_write(&mut self, bytes: &[u8]) -> Option<Result<usize, errors::TelemError>>;
64    fn serial_tx_write_priority(
65        &mut self,
66        bytes: &[u8],
67        _priority: SerialTxPriority,
68    ) -> Option<Result<usize, errors::TelemError>> {
69        self.serial_tx_write(bytes)
70    }
71    fn serial_tx_enqueue_downlink(
72        &mut self,
73        _system_id: u8,
74        _msg: DownlinkMessage,
75        _priority: SerialTxPriority,
76    ) -> Option<Result<usize, errors::TelemError>> {
77        None
78    }
79    fn serial_rx_frame_read(&mut self) -> Option<Result<SerialRxFrame, errors::TelemError>> {
80        None
81    }
82    fn serial_rx_pending(&self) -> bool {
83        false
84    }
85
86    fn clock_millis(&self) -> u32;
87    fn clock_micros(&self) -> u64;
88    fn set_test_pin_1(&mut self, _high: bool) {}
89    fn set_test_pin_2(&mut self, _high: bool) {}
90    fn set_test_pin_3(&mut self, _high: bool) {}
91    fn read_params(&mut self, _params: &mut Params) -> bool {
92        false
93    }
94    fn write_params(&mut self, _params: &Params) -> bool {
95        false
96    }
97    fn sensors_errors_count(&self) -> u16 {
98        0
99    }
100    fn sensors_errors_message(&self, _index: u16) -> Option<[u8; 50]> {
101        None
102    }
103    fn serial_flush(&mut self) {}
104    fn serial_flush_budgeted(&mut self, _max_units: usize) {
105        self.serial_flush();
106    }
107    fn led0_on(&mut self) {}
108    fn led0_off(&mut self) {}
109    fn led0_toggle(&mut self) {}
110    fn led1_on(&mut self) {}
111    fn led1_off(&mut self) {}
112    fn led1_toggle(&mut self) {}
113    fn backup_memory_read(&mut self) -> Option<BackupData> {
114        None
115    }
116    fn backup_memory_write(&mut self, _data: BackupData) -> bool {
117        false
118    }
119    fn backup_memory_clear(&mut self) -> bool {
120        false
121    }
122    fn reboot(&mut self) -> bool {
123        false
124    }
125    fn reboot_to_bootloader(&mut self) -> bool {
126        false
127    }
128    fn run_deferred_board_actions(&mut self) {}
129}
veloxity_core/board.rs

veloxity_core/
board.rs
