autd3-rs 0.9.0

Core async client library for the AUTD3 phased-array kit.
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140

use super::params::CPU_VERSION_V12_1;

#[derive(Clone, Copy, Debug, PartialEq, Eq)]
pub struct Version {
    pub major: u8,
    pub minor: u8,
}

impl core::fmt::Display for Version {
    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
        let (major, minor) = (self.major, self.minor);
        match major {
            0 => write!(f, "older than legacy-v0.4"),
            0x01..=0x06 => write!(f, "legacy-v0.{}", major + 3),
            0x0A..=0x15 => write!(f, "legacy-v1.{}", major - 0x0A),
            0x80..=0x89 => write!(f, "legacy-v2.{}.{}", major - 0x80, minor),
            0x8A => write!(f, "legacy-v3.0.{minor}"),
            0x8B..=0x8C => write!(f, "legacy-v4.{}.{}", major - 0x8B, minor),
            0x8D..=0x8E => write!(f, "legacy-v5.{}.{}", major - 0x8D, minor),
            0x8F..=0x90 => write!(f, "legacy-v6.{}.{}", major - 0x8F, minor),
            0x91 => write!(f, "legacy-v7.0.{minor}"),
            0x92 => write!(f, "legacy-v8.0.{minor}"),
            0xA0..=0xA1 => write!(f, "legacy-v9.{}.{}", major - 0xA0, minor),
            0xA2 => write!(f, "legacy-v10.0.{minor}"),
            0xA3 => write!(f, "legacy-v11.0.{minor}"),
            0xA4..=0xA5 => write!(f, "legacy-v12.{}.{}", major - 0xA4, minor),
            _ => write!(f, "unknown legacy version ({major})"),
        }
    }
}

#[derive(Clone, Copy, Debug, PartialEq, Eq)]
pub struct FirmwareVersion {
    pub idx: usize,
    pub cpu: Version,
    pub fpga: Version,
    pub function_bits: u8,
}

impl FirmwareVersion {
    pub const ENABLED_EMULATOR_BIT: u8 = 1 << 7;

    pub const SUPPORTED_CPU_MAJOR: u8 = CPU_VERSION_V12_1;

    #[must_use]
    pub const fn is_emulator(&self) -> bool {
        (self.function_bits & Self::ENABLED_EMULATOR_BIT) == Self::ENABLED_EMULATOR_BIT
    }

    #[must_use]
    pub const fn is_supported(&self) -> bool {
        self.cpu.major == Self::SUPPORTED_CPU_MAJOR
    }
}

impl core::fmt::Display for FirmwareVersion {
    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
        write!(f, "{}: CPU = {}, FPGA = {}", self.idx, self.cpu, self.fpga)?;
        if self.is_emulator() {
            write!(f, " [Emulator]")?;
        }
        Ok(())
    }
}

#[cfg(test)]
mod tests {
    use super::*;

    fn v(major: u8) -> String {
        Version { major, minor: 0 }.to_string()
    }

    #[test]
    fn version_map_matches_legacy_sdk() {
        assert_eq!(v(0), "older than legacy-v0.4");
        assert_eq!(v(1), "legacy-v0.4");
        assert_eq!(v(6), "legacy-v0.9");
        assert_eq!(v(7), "unknown legacy version (7)");
        assert_eq!(v(10), "legacy-v1.0");
        assert_eq!(v(21), "legacy-v1.11");
        assert_eq!(v(128), "legacy-v2.0.0");
        assert_eq!(v(137), "legacy-v2.9.0");
        assert_eq!(v(138), "legacy-v3.0.0");
        assert_eq!(v(139), "legacy-v4.0.0");
        assert_eq!(v(140), "legacy-v4.1.0");
        assert_eq!(v(141), "legacy-v5.0.0");
        assert_eq!(v(142), "legacy-v5.1.0");
        assert_eq!(v(143), "legacy-v6.0.0");
        assert_eq!(v(144), "legacy-v6.1.0");
        assert_eq!(v(145), "legacy-v7.0.0");
        assert_eq!(v(146), "legacy-v8.0.0");
        assert_eq!(v(147), "unknown legacy version (147)");
        assert_eq!(v(160), "legacy-v9.0.0");
        assert_eq!(v(161), "legacy-v9.1.0");
        assert_eq!(v(162), "legacy-v10.0.0");
        assert_eq!(v(163), "legacy-v11.0.0");
        assert_eq!(v(164), "legacy-v12.0.0");
        assert_eq!(v(165), "legacy-v12.1.0");
    }

    #[test]
    fn only_0xa5_is_supported() {
        let mk = |major| FirmwareVersion {
            idx: 0,
            cpu: Version { major, minor: 0 },
            fpga: Version { major, minor: 0 },
            function_bits: 0,
        };
        assert!(mk(0xA5).is_supported());
        assert!(!mk(0xA4).is_supported());
        assert!(!mk(0xA3).is_supported());
    }

    #[test]
    fn display_reports_both_cores_and_emulator_bit() {
        let mut fw = FirmwareVersion {
            idx: 2,
            cpu: Version {
                major: 0xA5,
                minor: 0,
            },
            fpga: Version {
                major: 0xA5,
                minor: 1,
            },
            function_bits: 0,
        };
        assert_eq!(
            fw.to_string(),
            "2: CPU = legacy-v12.1.0, FPGA = legacy-v12.1.1"
        );
        fw.function_bits = FirmwareVersion::ENABLED_EMULATOR_BIT;
        assert!(fw.is_emulator());
        assert_eq!(
            fw.to_string(),
            "2: CPU = legacy-v12.1.0, FPGA = legacy-v12.1.1 [Emulator]"
        );
    }
}