diff --git a/examples/rp/src/bin/uart_r503.rs b/examples/rp/src/bin/uart_r503.rs
index c0676750c..085be280b 100644
--- a/examples/rp/src/bin/uart_r503.rs
+++ b/examples/rp/src/bin/uart_r503.rs
@@ -1,12 +1,12 @@
#![no_std]
#![no_main]
-use defmt::info;
+use defmt::{debug, error, info};
use embassy_executor::Spawner;
use embassy_rp::bind_interrupts;
use embassy_rp::peripherals::UART0;
use embassy_rp::uart::{Config, DataBits, InterruptHandler as UARTInterruptHandler, Parity, StopBits, Uart};
-use embassy_time::Timer;
+use embassy_time::{with_timeout, Duration, Timer};
use heapless::Vec;
use {defmt_rtt as _, panic_probe as _};
@@ -14,15 +14,34 @@ bind_interrupts!(pub struct Irqs {
UART0_IRQ => UARTInterruptHandler<UART0>;
});
-const ADDRESS: u32 = 0xFFFFFFFF;
const START: u16 = 0xEF01;
+const ADDRESS: u32 = 0xFFFFFFFF;
// ================================================================================
-fn write_cmd_bytes(buf: &mut Vec<u8, 32>, bytes: &[u8]) {
- let _ = buf.extend_from_slice(bytes);
-}
+// Data package format
+// Name Length Description
+// ==========================================================================================================
+// Start 2 bytes Fixed value of 0xEF01; High byte transferred first.
+// Address 4 bytes Default value is 0xFFFFFFFF, which can be modified by command.
+// High byte transferred first and at wrong adder value, module
+// will reject to transfer.
+// PID 1 byte 01H Command packet;
+// 02H Data packet; Data packet shall not appear alone in executing
+// processs, must follow command packet or acknowledge packet.
+// 07H Acknowledge packet;
+// 08H End of Data packet.
+// LENGTH 2 bytes Refers to the length of package content (command packets and data packets)
+// plus the length of Checksum (2 bytes). Unit is byte. Max length is 256 bytes.
+// And high byte is transferred first.
+// DATA - It can be commands, data, command’s parameters, acknowledge result, etc.
+// (fingerprint character value, template are all deemed as data);
+// SUM 2 bytes The arithmetic sum of package identifier, package length and all package
+// contens. Overflowing bits are omitted. high byte is transferred first.
+// ================================================================================
+
+// Checksum is calculated on 'length (2 bytes) + data (??)'.
fn compute_checksum(buf: Vec<u8, 32>) -> u16 {
let mut checksum = 0u16;
@@ -52,81 +71,88 @@ async fn main(_spawner: Spawner) {
let (mut tx, mut rx) = uart.split();
let mut vec_buf: Vec<u8, 32> = heapless::Vec::new();
+ let mut data: Vec<u8, 32> = heapless::Vec::new();
- // Cycle through the three colours Red, Blue and Purple.
- for colour in 1..=3 {
- // Clear buffers
- vec_buf.clear();
+ let mut speeds: Vec<u8, 3> = heapless::Vec::new();
+ let _ = speeds.push(0xC8); // Slow
+ let _ = speeds.push(0x20); // Medium
+ let _ = speeds.push(0x02); // Fast
- // START
- let _ = write_cmd_bytes(&mut vec_buf, &START.to_be_bytes()[..]);
+ // Cycle through the three colours Red, Blue and Purple forever.
+ loop {
+ for colour in 1..=3 {
+ for speed in &speeds {
+ // Set the data first, because the length is dependent on that.
+ // However, we write the length bits before we do the data.
+ data.clear();
+ let _ = data.push(0x01); // ctrl=Breathing light
+ let _ = data.push(*speed);
+ let _ = data.push(colour as u8); // colour=Red, Blue, Purple
+ let _ = data.push(0x00); // times=Infinite
- // ADDRESS
- let _ = write_cmd_bytes(&mut vec_buf, &ADDRESS.to_be_bytes()[..]);
+ // Clear buffers
+ vec_buf.clear();
- // PID
- let _ = vec_buf.push(0x01);
+ // START
+ let _ = vec_buf.extend_from_slice(&START.to_be_bytes()[..]);
- // LENGTH
- let len = <usize as TryInto<u16>>::try_into(vec_buf.len()).unwrap() as u16;
- let _ = write_cmd_bytes(&mut vec_buf, &len.to_be_bytes()[..]);
+ // ADDRESS
+ let _ = vec_buf.extend_from_slice(&ADDRESS.to_be_bytes()[..]);
- // COMMAND
- let _ = vec_buf.push(0x35); // AuraLedConfig
+ // PID
+ let _ = vec_buf.extend_from_slice(&[0x01]);
- // DATA
- let _ = vec_buf.push(0x01); // ctrl=Breathing light
- let _ = vec_buf.push(0x50); // speed=80
- let _ = vec_buf.push(colour as u8); // colour=Red, Blue, Purple
- let _ = vec_buf.push(0x00); // times=Infinite
+ // LENGTH
+ let len: u16 = (1 + data.len() + 2).try_into().unwrap();
+ let _ = vec_buf.extend_from_slice(&len.to_be_bytes()[..]);
- // SUM
- let chk = compute_checksum(vec_buf.clone());
- let _ = write_cmd_bytes(&mut vec_buf, &chk.to_be_bytes()[..]);
+ // COMMAND
+ let _ = vec_buf.push(0x35); // Command: AuraLedConfig
- // =====
+ // DATA
+ let _ = vec_buf.extend_from_slice(&data);
- // Send command buffer.
- let data_write: [u8; 16] = vec_buf.clone().into_array().unwrap();
- info!("write ({})='{:?}'", colour, data_write);
- match tx.write(&data_write).await {
- Ok(..) => info!("Write successful."),
- Err(e) => info!("Write error: {:?}", e),
- }
+ // SUM
+ let chk = compute_checksum(vec_buf.clone());
+ let _ = vec_buf.extend_from_slice(&chk.to_be_bytes()[..]);
- // =====
+ // =====
- // Read command buffer.
- let mut read_buf: [u8; 1] = [0; 1]; // Can only read one byte at a time!
- let mut data_read: Vec<u8, 32> = heapless::Vec::new(); // Return buffer.
- let mut cnt: u8 = 0; // Keep track of how many packages we've received.
+ // Send command buffer.
+ let data_write: [u8; 16] = vec_buf.clone().into_array().unwrap();
+ debug!(" write='{:?}'", data_write[..]);
+ match tx.write(&data_write).await {
+ Ok(..) => info!("Write successful."),
+ Err(e) => error!("Write error: {:?}", e),
+ }
- info!("Attempting read.");
- loop {
- match rx.read(&mut read_buf).await {
- Ok(..) => (),
- Err(e) => info!(" Read error: {:?}", e),
+ // =====
+
+ // Read command buffer.
+ let mut read_buf: [u8; 1] = [0; 1]; // Can only read one byte at a time!
+ let mut data_read: Vec<u8, 32> = heapless::Vec::new(); // Save buffer.
+
+ info!("Attempting read.");
+ loop {
+ // Some commands, like `Img2Tz()` needs longer, but we hard-code this to 200ms
+ // for this command.
+ match with_timeout(Duration::from_millis(200), rx.read(&mut read_buf)).await {
+ Ok(..) => {
+ // Extract and save read byte.
+ debug!(" r='{=u8:#04x}H' ({:03}D)", read_buf[0], read_buf[0]);
+ let _ = data_read.push(read_buf[0]).unwrap();
+ }
+ Err(..) => break, // TimeoutError -> Ignore.
+ }
+ }
+ info!("Read successful");
+ debug!(" read='{:?}'", data_read[..]);
+
+ Timer::after_secs(3).await;
+ info!("Changing speed.");
}
- match cnt {
- _ => data_read.push(read_buf[0]).unwrap(),
- }
-
- if cnt > 10 {
- info!("read ({})='{:?}'", colour, data_read[..]);
- break;
- }
-
- cnt = cnt + 1;
- }
-
- // =====
-
- if colour != 3 {
- Timer::after_secs(2).await;
info!("Changing colour.");
}
}
-
- info!("All done..");
}