switched northbridge -> southbridge communication to length-data

buffereduart peek does not appear to work, and
coms are very stable with shielded wire

northbridge/src/framed_codec.rs

@@ -37,9 +37,8 @@ impl Encoder<Vec<u8>> for FramedCodec {
     type Error = framed::Error;
 
     fn encode(&mut self, item: Vec<u8>, dst: &mut BytesMut) -> Result<(), Self::Error> {
-        let encoded = self.codec.encode_to_box(&item)?;
-
-        dst.extend_from_slice(&encoded);
+        dst.extend_from_slice(&item.len().to_be_bytes());
+        dst.extend_from_slice(&item);
 
         Ok(())
     }

northbridge/src/main.rs

@@ -30,26 +30,33 @@ async fn main() -> Result<()> {
 
     println!("starting");
     write.send(Command::Enable).await?;
+    write.flush().await?;
 
-    while let Some(Ok(data)) = read.next().await {
-        if data.enabled {
-            write.send(Command::FeedWatchdog).await?;
+    loop {
+        //let Some(Ok(data)) = read.next().await else {
+        //    continue;
+        //};
+        //if data.enabled {
+        //    write.send(Command::FeedWatchdog).await?;
+        //    write.flush().await?;
+
+        //} else {
+        //    println!("enabled southbridge");
+        //    write.send(Command::Enable).await?;
+        //}
 
-        } else {
-            println!("enabled southbridge");
         write.send(Command::Enable).await?;
+        write.flush().await?;
+
+        //dbg!(&data);
+
+        //if let Some(data) = data.sensor_data {
+        //    let _ = sensor_sender.send(data);
+        //}
+        
+        write.send(dbg!(commands.borrow().clone())).await?;
+        write.flush().await?;
     }
-
-        dbg!(&data);
-
-        if let Some(data) = data.sensor_data {
-            let _ = sensor_sender.send(data);
-        }
-
-        write.send(commands.borrow().clone()).await?;
-    }
-
-    Ok(())
 }
 
 async fn control(sender: Sender<Command>) -> Result<()> {

southbridge/Cargo.toml

@@ -13,7 +13,7 @@ embedded-storage = "0.3.1"
 
 cortex-m-rt = "0.7.3"
 
-embassy-executor = { version = "0.7", features = ["arch-cortex-m", "executor-thread", "executor-interrupt"] }
+embassy-executor = { version = "0.7", features = ["arch-cortex-m", "executor-thread", "task-arena-size-32768"] }
 embassy-sync = { version = "0.6" }
 embassy-time = { version = "0.4" }
 cortex-m = { version = "0.7.6" }

southbridge/src/main.rs

@@ -8,8 +8,7 @@ use embassy_executor::Spawner;
 use embassy_rp::{bind_interrupts, block::ImageDef, gpio::{Level, Output}, peripherals::{UART0, UART1, USB}, pwm::{self, Pwm}, uart::{BufferedInterruptHandler, BufferedUart, BufferedUartRx, BufferedUartTx, Config}, usb::Driver};
 use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, channel::Channel};
 use embassy_time::{with_deadline, with_timeout, Duration, Instant, Timer};
-use embedded_io::Write;
-use embedded_io_async::{BufRead, Read};
+use embedded_io_async::{BufRead, Read, Write};
 use framed::{bytes, FRAME_END_SYMBOL};
 use log::{error, info, trace, warn};
 use nalgebra::clamp;
@@ -57,7 +56,7 @@ async fn main(spawner: Spawner) {
     drive_conf.compare_b = 15000; // 1.5ms
     drive_conf.compare_a = 15000; // 1.5ms
     let stopped = drive_conf.clone();
-    let mut drive_pwm = Pwm::new_output_ab(p.PWM_SLICE0, p.PIN_16, p.PIN_17, drive_conf.clone());
+    let mut drive_pwm = Pwm::new_output_ab(p.PWM_SLICE0, p.PIN_16, p.PIN_17, stopped.clone());
 
     let config = embassy_rp::i2c::Config::default();
     let bus = embassy_rp::i2c::I2c::new_async(p.I2C1, p.PIN_19, p.PIN_18, Irqs, config);
@@ -80,19 +79,11 @@ async fn main(spawner: Spawner) {
 
     let enabled = &ENABLED;
     let mut enable_watchdog = Instant::now();
-    let enable_watchdog_time = Duration::from_millis(50);
+    let enable_watchdog_time = Duration::from_millis(150);
 
-    Timer::after_secs(1).await;
     info!("ready");
-    Timer::after_secs(1).await;
-
 
     loop {
-        if !enabled.load(Ordering::Acquire) {
-            // stop all motors
-            drive_pwm.set_config(&stopped);
-        }
-
         let command = if enabled.load(Ordering::Acquire) { 
             let Ok(command) = with_deadline(enable_watchdog + enable_watchdog_time, COMMANDS.receive()).await else {
                 warn!("no message received");
@@ -101,6 +92,8 @@ async fn main(spawner: Spawner) {
             };
             command
         } else {
+            // stop all motors
+            //drive_pwm.set_config(&stopped);
             info!("waiting for command");
             COMMANDS.receive().await
         };
@@ -129,7 +122,6 @@ async fn main(spawner: Spawner) {
         };
 
         info!("Blink");
-        Timer::after(Duration::from_millis(100)).await;
     }
 }
 
@@ -137,18 +129,14 @@ async fn main(spawner: Spawner) {
 #[embassy_executor::task]
 async fn decoder(mut rx: BufferedUartRx<'static, UART1>) {
     info!("Reading...");
-    let mut codec = framed::bytes::Config::default().to_codec();
 
     loop {
-        let data = rx.fill_buf().await.unwrap();
-        let Some(end) =  data.iter().position(|e| *e == FRAME_END_SYMBOL) else { continue; };
-        let data = &data[..end];
+        let mut len = [0;4];
+        rx.read_exact(&mut len).await.unwrap();
+        let len = u32::from_be_bytes(len) as usize;
 
-        let mut buf = [0u8; 1024];
-        let Ok(len) = codec.decode_to_slice(data, &mut buf) else {
-            error!("frame decode fail");
-            continue;
-        };
+        let mut buf = [0;1024];
+        rx.read_exact(&mut buf[..len]).await.unwrap();
 
         let Ok(data) = postcard::from_bytes::<Command>(&buf[..len]) else {
             error!("message decode fail");
@@ -158,8 +146,6 @@ async fn decoder(mut rx: BufferedUartRx<'static, UART1>) {
         trace!("received {data:?}");
 
         COMMANDS.send(data).await;
-
-        rx.consume(end);
     }
 }
 
@@ -189,9 +175,10 @@ async fn telemetry(mut tx: BufferedUartTx<'static, UART1>, enabled: &'static Ato
             continue;
         };
 
-        if let Err(e) = tx.write_all(&buf[..len]) {
+        if let Err(e) = tx.write_all(&buf[..len]).await {
             error!("transport error {e:?}");
         }
+        tx.flush().await.unwrap();
     }
 }