protoflight 0.1.3

Protoflight flight controller.
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
141
142
143
144
145
146
147
148
149
150

//#[cfg(feature = "barometer")]
#[allow(unused)]
use super::{
    BarometerDevice, BarometerMessage, barometer_bmp085::BarometerBmp085, barometer_dps310::BarometerDps310,
    barometer_mock::BarometerMock,
};
use crate::i2c_bus::{I2cError, SharedI2cBus};

#[cfg(feature = "serde")]
use {
    postcard::experimental::max_size::MaxSize,
    sequential_storage::map::PostcardValue,
    serde::{Deserialize, Serialize},
};

#[allow(missing_docs)]
#[allow(unused)]
#[repr(u8)]
#[derive(Clone, Copy, Debug, Default, Eq, PartialEq)]
#[cfg_attr(feature = "serde", derive(Serialize, Deserialize, MaxSize))]
pub enum BarometerType {
    #[default]
    Default = 0,
    NoBarometer = 1,
    Bmp085 = 2,
    Ms5611 = 3,
    Bmp280 = 4,
    Lps = 5,
    Qmp6988 = 6,
    Bmp388 = 7,
    Dsp310 = 8,
    Smpb02b = 9,
    Lps22Df = 10,
    Bmp580 = 11,
    Bmp581 = 12,
    Mock = 13,
}

#[cfg(feature = "serde")]
impl PostcardValue<'_> for BarometerType {}

#[allow(unused)]
impl BarometerType {
    /// Forgiving conversion, converts invalid values to default.
    #[must_use]
    pub fn from_u8(value: u8) -> Self {
        match value {
            1 => Self::NoBarometer,
            2 => Self::Bmp085,
            3 => Self::Ms5611,
            4 => Self::Bmp280,
            5 => Self::Lps,
            6 => Self::Qmp6988,
            7 => Self::Bmp388,
            8 => Self::Dsp310,
            9 => Self::Smpb02b,
            10 => Self::Lps22Df,
            11 => Self::Bmp580,
            12 => Self::Bmp581,
            13 => Self::Mock,
            _ => Self::default(),
        }
    }
}

#[allow(unused)]
#[derive(Debug)]
pub enum BarometerError<E> {
    I2c(E),
    InvalidChipId { expected: u8, actual: u8 },
    InvalidCalibration,
    InvalidData,
}

//pub type Dps310Error = BarometerError<<I2cDeviceBlocking as embedded_hal::i2c::ErrorType>::Error>;
//pub type Bmp085Error = BarometerError<<I2cDeviceBlocking as embedded_hal::i2c::ErrorType>::Error>;

pub type BarometerI2cError = BarometerError<I2cError>;

pub enum Barometer {
    Mock(BarometerMock),
    #[cfg(feature = "barometer")]
    Bmp085(BarometerBmp085),
    #[cfg(feature = "barometer")]
    Dps310(BarometerDps310),
}

impl Barometer {
    #[allow(unused)]
    #[must_use]
    pub const fn new(barometer_type: BarometerType, i2c_bus: &'static SharedI2cBus) -> Option<Barometer> {
        match barometer_type {
            BarometerType::Mock => Some(Self::Mock(BarometerMock::new())),
            //#[cfg(feature = "barometer")]
            //BarometerType::Default => Some(Self::Mock(BarometerMock::new(i2c_bus))),
            #[cfg(feature = "barometer")]
            BarometerType::Bmp085 => Some(Self::Bmp085(BarometerBmp085::new(i2c_bus))),
            #[cfg(feature = "barometer")]
            BarometerType::Dsp310 => Some(Self::Dps310(BarometerDps310::new(i2c_bus))),
            _ => None,
        }
    }
}

impl BarometerDevice for Barometer {
    async fn init(&mut self) -> Result<u32, BarometerI2cError> {
        match self {
            Self::Mock(barometer) => barometer.init().await,
            #[cfg(feature = "barometer")]
            Self::Bmp085(barometer) => barometer.init().await,
            #[cfg(feature = "barometer")]
            Self::Dps310(barometer) => barometer.init().await,
        }
    }
    async fn make_reading(&mut self) {
        match self {
            Self::Mock(barometer) => barometer.make_reading().await,
            #[cfg(feature = "barometer")]
            Self::Bmp085(barometer) => barometer.make_reading().await,
            #[cfg(feature = "barometer")]
            Self::Dps310(barometer) => barometer.make_reading().await,
        }
    }

    fn message(&self) -> BarometerMessage {
        match self {
            Self::Mock(barometer) => barometer.message(),
            #[cfg(feature = "barometer")]
            Self::Bmp085(barometer) => barometer.message(),
            #[cfg(feature = "barometer")]
            Self::Dps310(barometer) => barometer.message(),
        }
    }
}

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

    fn is_full_eq<T: Sized + Send + Sync + Unpin + Copy + Clone + Default + Eq + PartialEq>() {}
    #[cfg(feature = "serde")]
    fn is_config<T: Serialize + MaxSize + for<'a> Deserialize<'a> + for<'a> PostcardValue<'a>>() {}

    #[test]
    fn normal_types() {
        is_full_eq::<BarometerType>();
        #[cfg(feature = "serde")]
        is_config::<BarometerType>();
    }
}