From e63eed4c4ec6fe47356d3e018a1e33940ea8618f Mon Sep 17 00:00:00 2001
From: Samuel Tardieu <sam@rfc1149.net>
Date: Thu, 11 Jul 2024 13:27:03 +0200
Subject: [PATCH] Ignore malformed messages
---
controller/src/logic.rs | 12 ++++++------
i2c2-target/src/lib.rs | 24 +++++++++++++++++++++---
2 files changed, 27 insertions(+), 9 deletions(-)
diff --git a/controller/src/logic.rs b/controller/src/logic.rs
index e07c838..10b40e8 100644
--- a/controller/src/logic.rs
+++ b/controller/src/logic.rs
@@ -57,7 +57,7 @@ fn handle_command(command: &[u8], response: &mut Deque<u8, MESSAGE_SIZE>) {
[WHO_AM_I, ..] => {
let _ = response.push_back(0x57);
}
- &[MAX_MOTOR_PERCENTAGE, p, ..] => {
+ &[MAX_MOTOR_PERCENTAGE, p] => {
if (1..=100).contains(&p) {
state.max_motor_percentage = p;
} else {
@@ -67,7 +67,7 @@ fn handle_command(command: &[u8], response: &mut Deque<u8, MESSAGE_SIZE>) {
[MAX_MOTOR_PERCENTAGE] => {
let _ = response.push_back(state.max_motor_percentage);
}
- [MOTOR_SPEED, ms @ ..] if ms.len() >= 2 => {
+ [MOTOR_SPEED, ms @ ..] if ms.len() == 2 => {
let (max_pwm, mmp) = (
state.motors.max_pwm() as i32,
i32::from(state.max_motor_percentage),
@@ -93,12 +93,12 @@ fn handle_command(command: &[u8], response: &mut Deque<u8, MESSAGE_SIZE>) {
}
}
}
- [MOTOR_SPEED, ..] => {
+ [MOTOR_SPEED] => {
for &s in &state.motor_speed {
let _ = response.push_back(s);
}
}
- [ENCODER_TICKS, ..] => {
+ [ENCODER_TICKS] => {
let (left, right) = state.encoders.ticks();
let (left, right) = (left.to_le_bytes(), right.to_le_bytes());
let _ = response.push_back(left[0]);
@@ -106,8 +106,8 @@ fn handle_command(command: &[u8], response: &mut Deque<u8, MESSAGE_SIZE>) {
let _ = response.push_back(right[0]);
let _ = response.push_back(right[1]);
}
- &[idx, ..] => {
- defmt::warn!("unknown register {:#04x}", idx);
+ &[_, ..] => {
+ defmt::warn!("unknown command or args {:#04x}", command);
}
&[] => {
defmt::warn!("received empty command");
diff --git a/i2c2-target/src/lib.rs b/i2c2-target/src/lib.rs
index 2ab0bb3..1d33e99 100644
--- a/i2c2-target/src/lib.rs
+++ b/i2c2-target/src/lib.rs
@@ -110,9 +110,15 @@ impl I2C2 {
let af_num = SclPin::af_num(&pb10);
assert_eq!(af_num, SdaPin::af_num(&pb11));
let mut pb10 = Flex::new(pb10);
- pb10.set_as_af_unchecked(af_num, AfType::output(OutputType::OpenDrain, Speed::Low));
+ pb10.set_as_af_unchecked(
+ af_num,
+ AfType::output(OutputType::OpenDrain, Speed::VeryHigh),
+ );
let mut pb11 = Flex::new(pb11);
- pb11.set_as_af_unchecked(af_num, AfType::output(OutputType::OpenDrain, Speed::Low));
+ pb11.set_as_af_unchecked(
+ af_num,
+ AfType::output(OutputType::OpenDrain, Speed::VeryHigh),
+ );
// Turn I2C2 clock on
pac::RCC.apb1enr().modify(|w| w.set_i2c2en(true));
@@ -131,6 +137,7 @@ impl I2C2 {
// Enable I2C2
pac::I2C2.cr1().write(|w| {
w.set_pe(true);
+ w.set_nostretch(false);
});
// Set ack generation
pac::I2C2.cr1().modify(|w| {
@@ -162,11 +169,19 @@ unsafe fn I2C2_EV() {
pac::I2C2.cr1().read().0,
pac::I2C2.cr2().read().0
);
+ if sr1.ovr() {
+ defmt::error!("overrun detected");
+ pac::I2C2.sr1().modify(|w| w.set_ovr(false));
+ }
let state = unsafe { STATE.as_mut().unwrap() };
if sr1.rxne() {
defmt::trace!("I2C2_EV RXNE");
let b = pac::I2C2.dr().read().0 as u8;
- defmt::trace!("received byte {:#04x}", &b);
+ defmt::trace!(
+ "received byte {:#04x} - sr1 is now {:#06x}",
+ &b,
+ pac::I2C2.sr1().read().0
+ );
if state.incoming.push(b).is_err() {
defmt::error!("I2C byte has overfilled the buffer");
}
@@ -215,5 +230,8 @@ unsafe fn I2C2_EV() {
} else {
state.set_write_in_progress();
}
+ // Read DR to avoid overrun
+ pac::I2C2.dr().read();
+ defmt::trace!("sr1 is now {:#06x}", pac::I2C2.sr1().read().0);
}
}
--
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