base-station: Add code to receive packets using the NRF24L01 module.

base-station/software/Cargo.lock

@@ -3,3 +3,208 @@
 [[package]]
 name = "base-station"
 version = "0.1.0"
+dependencies = [
+ "embedded-hal",
+ "embedded-nrf24l01",
+ "linux-embedded-hal",
+]
+
+[[package]]
+name = "bitfield"
+version = "0.13.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "46afbd2983a5d5a7bd740ccb198caf5b82f45c40c09c0eed36052d91cb92e719"
+
+[[package]]
+name = "bitflags"
+version = "1.2.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "cf1de2fe8c75bc145a2f577add951f8134889b4795d47466a54a5c846d691693"
+
+[[package]]
+name = "byteorder"
+version = "1.3.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "08c48aae112d48ed9f069b33538ea9e3e90aa263cfa3d1c24309612b1f7472de"
+
+[[package]]
+name = "cast"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4b9434b9a5aa1450faa3f9cb14ea0e8c53bb5d2b3c1bfd1ab4fc03e9f33fbfb0"
+dependencies = [
+ "rustc_version",
+]
+
+[[package]]
+name = "cc"
+version = "1.0.50"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "95e28fa049fda1c330bcf9d723be7663a899c4679724b34c81e9f5a326aab8cd"
+
+[[package]]
+name = "cfg-if"
+version = "0.1.10"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "4785bdd1c96b2a846b2bd7cc02e86b6b3dbf14e7e53446c4f54c92a361040822"
+
+[[package]]
+name = "embedded-hal"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "ee4908a155094da7723c2d60d617b820061e3b4efcc3d9e293d206a5a76c170b"
+dependencies = [
+ "nb",
+ "void",
+]
+
+[[package]]
+name = "embedded-nrf24l01"
+version = "0.2.0"
+source = "git+https://github.com/astro/embedded-nrf24l01.git#0998f622c99d48a3d90261e0eabeb5e84d6f30a0"
+dependencies = [
+ "bitfield",
+ "embedded-hal",
+]
+
+[[package]]
+name = "i2cdev"
+version = "0.4.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3c0eb3d9b6b02dc2508ee23439170004e44344bab9d53a490eb1f64c885b5003"
+dependencies = [
+ "bitflags",
+ "byteorder",
+ "libc",
+ "nix",
+]
+
+[[package]]
+name = "ioctl-rs"
+version = "0.1.6"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f7970510895cee30b3e9128319f2cefd4bde883a39f38baa279567ba3a7eb97d"
+dependencies = [
+ "libc",
+]
+
+[[package]]
+name = "libc"
+version = "0.2.68"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "dea0c0405123bba743ee3f91f49b1c7cfb684eef0da0a50110f758ccf24cdff0"
+
+[[package]]
+name = "linux-embedded-hal"
+version = "0.3.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "e04b2d8e29bb2d949bc9f0ed8acee5033833166731c7e479d0c74d7ef2ab042d"
+dependencies = [
+ "cast",
+ "embedded-hal",
+ "i2cdev",
+ "nb",
+ "serial-core",
+ "serial-unix",
+ "spidev",
+ "sysfs_gpio",
+]
+
+[[package]]
+name = "nb"
+version = "0.1.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "b1411551beb3c11dedfb0a90a0fa256b47d28b9ec2cdff34c25a2fa59e45dbdc"
+
+[[package]]
+name = "nix"
+version = "0.14.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6c722bee1037d430d0f8e687bbdbf222f27cc6e4e68d5caf630857bb2b6dbdce"
+dependencies = [
+ "bitflags",
+ "cc",
+ "cfg-if",
+ "libc",
+ "void",
+]
+
+[[package]]
+name = "rustc_version"
+version = "0.2.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
+dependencies = [
+ "semver",
+]
+
+[[package]]
+name = "semver"
+version = "0.9.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "1d7eb9ef2c18661902cc47e535f9bc51b78acd254da71d375c2f6720d9a40403"
+dependencies = [
+ "semver-parser",
+]
+
+[[package]]
+name = "semver-parser"
+version = "0.7.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
+
+[[package]]
+name = "serial-core"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3f46209b345401737ae2125fe5b19a77acce90cd53e1658cda928e4fe9a64581"
+dependencies = [
+ "libc",
+]
+
+[[package]]
+name = "serial-unix"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f03fbca4c9d866e24a459cbca71283f545a37f8e3e002ad8c70593871453cab7"
+dependencies = [
+ "ioctl-rs",
+ "libc",
+ "serial-core",
+ "termios",
+]
+
+[[package]]
+name = "spidev"
+version = "0.4.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "aa5aa93a87c20f4efdf494917ef8fb475522601256ba6bb00ad1e6101f779fe9"
+dependencies = [
+ "bitflags",
+ "libc",
+ "nix",
+]
+
+[[package]]
+name = "sysfs_gpio"
+version = "0.5.4"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "24961a55846623d8e4f6cec38718945116fed8d6970336a7110710a07aa9b5d1"
+dependencies = [
+ "nix",
+]
+
+[[package]]
+name = "termios"
+version = "0.2.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "d5d9cf598a6d7ce700a4e6a9199da127e6819a61e64b68609683cc9a01b5683a"
+dependencies = [
+ "libc",
+]
+
+[[package]]
+name = "void"
+version = "1.0.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"

base-station/software/Cargo.toml

@@ -7,3 +7,6 @@ edition = "2018"
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [dependencies]
+linux-embedded-hal = "0.3"
+embedded-nrf24l01 = { git = "https://github.com/astro/embedded-nrf24l01.git" }
+embedded-hal = "0.2.3"

base-station/software/src/main.rs

@@ -1,3 +1,76 @@
+use embedded_nrf24l01::{Configuration, CrcMode, DataRate, NRF24L01};
+use linux_embedded_hal::spidev::{SpiModeFlags, Spidev, SpidevOptions};
+use linux_embedded_hal::sysfs_gpio::Direction;
+use linux_embedded_hal::Pin;
+
+use spi::EmbeddedHalSpidev;
+
+mod spi;
+
 fn main() {
-    println!("Hello, world!");
+    // The NRF module is connected as follows:
+    // - CE: PA1
+    // - CS: PG8
+    // - IRQ: PG9
+    // - MOSI: PC0
+    // - MISO: PC1
+    // - SCK: PC2
+
+    // Configure SPI.
+    let mut spi = Spidev::open("/dev/spidev0.0").unwrap();
+    let options = SpidevOptions::new()
+        .bits_per_word(8)
+        .max_speed_hz(500_000)
+        .mode(SpiModeFlags::SPI_MODE_0)
+        .build();
+    spi.configure(&options).unwrap();
+    let spi = EmbeddedHalSpidev::from(spi);
+
+    // Configure the GPIOs.
+    let ce_nr = get_pin_number('A', 1);
+    let ce = Pin::new(ce_nr);
+    ce.export().unwrap();
+    ce.set_direction(Direction::Out).unwrap();
+    let cs_nr = get_pin_number('G', 8);
+    let cs = Pin::new(cs_nr);
+    cs.export().unwrap();
+    cs.set_direction(Direction::Out).unwrap();
+    let irq_nr = get_pin_number('G', 9);
+    let irq = Pin::new(irq_nr);
+    irq.export().unwrap();
+    irq.set_direction(Direction::In).unwrap();
+
+    // Initialize the radio module.
+    let mut nrf24 = NRF24L01::new(ce, cs, spi).unwrap();
+    nrf24.set_frequency(0x32).unwrap();
+    nrf24.set_rf(DataRate::R2Mbps, 0).unwrap();
+    nrf24.set_crc(Some(CrcMode::OneByte)).unwrap();
+    nrf24.set_auto_retransmit(250, 3).unwrap();
+    nrf24
+        .set_pipes_rx_enable(&[true, false, false, false, false, false])
+        .unwrap();
+    nrf24
+        .set_rx_addr(0, &[0x56, 0x34, 0x12, 0x00, 0x00])
+        .unwrap();
+    nrf24.flush_rx().unwrap();
+    nrf24.flush_tx().unwrap();
+    //nrf24.set_auto_ack(&[true; 6]).unwrap();
+    println!("auto ack: {:?}", nrf24.get_auto_ack().unwrap());
+    nrf24.set_pipes_rx_lengths(&[None; 6]).unwrap();
+
+    println!("width: {}", nrf24.get_address_width().unwrap());
+
+    // Receive data.
+    let mut nrf24 = nrf24.rx().unwrap();
+    println!("Starting to receive:");
+    loop {
+        if let Some(pipe) = nrf24.can_read().unwrap() {
+            let payload = nrf24.read().unwrap();
+            println!("packet received on pipe {}: {:?}", pipe, payload.as_ref());
+        }
+    }
+}
+
+fn get_pin_number(c: char, n: u64) -> u64 {
+    (c as u64 - 'A' as u64) * 32 + n
 }

base-station/software/src/spi.rs

@@ -0,0 +1,25 @@
+use std::io;
+
+use embedded_hal::blocking::spi::Transfer;
+use linux_embedded_hal::spidev::Spidev;
+use linux_embedded_hal::spidev::SpidevTransfer;
+
+pub struct EmbeddedHalSpidev {
+    spi: Spidev,
+}
+
+impl From<Spidev> for EmbeddedHalSpidev {
+    fn from(s: Spidev) -> EmbeddedHalSpidev {
+        EmbeddedHalSpidev { spi: s }
+    }
+}
+
+impl Transfer<u8> for EmbeddedHalSpidev {
+    type Error = io::Error;
+    fn transfer<'w>(&mut self, words: &'w mut [u8]) -> Result<&'w [u8], Self::Error> {
+        let words_copy = words.to_vec();
+        let mut transfer = SpidevTransfer::read_write(&words_copy, words);
+        self.spi.transfer(&mut transfer)?;
+        Ok(words)
+    }
+}