Update radar logging and version retrieval, tweak 'xe125' example

Changes include updated logging formatting in the hal.rs file, improved version retrieval and printing in radar.rs, and modification of version methods. For the 'xe125' example, removed probe-rs 'verify' flag and defmt log attribute from .cargo/config.toml, added new imported 'radar' structures in main.rs, and adjusted for new version retrieval method.

The `__hardfp_sqrtf` function was also added to main.rs following the `__hardfp_roundf` function, providing the square root of the input float as a return. The same file also discards the optional 'chip-erase' flag and removes git-fetch-with-cli from the net environment in the .cargo/config.toml file.

examples/xe125/.cargo/config.toml

@@ -1,5 +1,5 @@
 [target.'cfg(all(target_arch = "arm", target_os = "none"))']
-runner = "probe-rs run --chip STM32L431CBYx --chip-erase --connect-under-reset --verify"
+runner = "probe-rs run --chip STM32L431CBYx --connect-under-reset"
 
 [target.thumbv7em-none-eabihf]
 rustflags = [
@@ -13,7 +13,3 @@ target = "thumbv7em-none-eabihf"
 
 [env]
 DEFMT_LOG = "trace"
-
-[net]
-git-fetch-with-cli = true
-

examples/xe125/src/main.rs

@@ -3,6 +3,8 @@
 
 use core::cell::RefCell;
 
+use a121_rs::radar;
+use a121_rs::radar::Radar;
 use defmt::info;
 use embassy_executor::Spawner;
 use embassy_stm32::exti::ExtiInput;
@@ -15,7 +17,7 @@ use embassy_stm32::spi::{Config, Spi};
 use embassy_stm32::time::Hertz;
 use embassy_time::{Delay, Duration, Timer};
 use embedded_hal_bus::spi::ExclusiveDevice;
-use a121_rs::radar::Radar;
+use radar::rss_version;
 #[allow(unused_imports)]
 use {defmt_rtt as _, panic_probe as _};
 
@@ -56,11 +58,17 @@ async fn main(_spawner: Spawner) {
     enable.set_high();
     Timer::after(Duration::from_millis(10)).await;
 
-    let radar = Radar::new(1, spi_mut_ref.get_mut(), interrupt).enable();
+    info!("RSS Version: {}", rss_version());
+
+    let mut radar = Radar::new(1, spi_mut_ref.get_mut(), interrupt).enable();
     info!("Radar enabled");
+    let mut buffer = [0u8; 100];
+    let mut calibration = radar.sensor.calibrate(&mut buffer).await.unwrap();
+    radar
+        .sensor
+        .prepare(&radar.config, &mut calibration, &mut buffer)
+        .unwrap();
 
-    let rss_version = radar.version();
-    info!("RSS Version: {}", rss_version);
     loop {
         Timer::after(Duration::from_secs(1)).await;
         info!("Hello, radar!");
@@ -113,3 +121,8 @@ pub extern "C" fn __hardfp_sinf(f: f32) -> f32 {
 pub extern "C" fn __hardfp_roundf(f: f32) -> f32 {
     libm::roundf(f)
 }
+
+#[no_mangle]
+pub extern "C" fn __hardfp_sqrtf(f: f32) -> f32 {
+    libm::sqrtf(f)
+}

src/hal.rs

@@ -80,7 +80,7 @@ impl AccHalImpl {
     ) {
         let tmp_buf = unsafe { core::slice::from_raw_parts_mut(buffer, buffer_length) };
         trace!(
-            "Transfer16 function called: buffer={:x} (size:{})",
+            "Transfer16 function called: buffer={:#X} (size:{})",
             tmp_buf,
             buffer_length
         );
@@ -90,7 +90,7 @@ impl AccHalImpl {
             let spi = binding.as_mut().unwrap_unchecked();
             // Perform the SPI transfer
             spi.transfer_in_place(tmp_buf).unwrap_unchecked();
-            trace!("Transfer16 function completed, buffer={:x}", tmp_buf);
+            trace!("Transfer16 function completed, buffer={:#X}", tmp_buf);
         });
     }
 

src/radar.rs

@@ -22,11 +22,17 @@ where
 
 /// Radar Sensor Software Version
 /// 0xMMMMmmPP where M is major, m is minor and P is patch
-#[derive(Debug, defmt::Format)]
+#[derive(Debug)]
 pub struct RssVersion {
     version: u32,
 }
 
+impl defmt::Format for RssVersion {
+    fn format(&self, f: defmt::Formatter) {
+        defmt::write!(f, "{}.{}.{}", self.major(), self.minor(), self.patch())
+    }
+}
+
 impl Display for RssVersion {
     fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
         write!(f, "{}.{}.{}", self.major(), self.minor(), self.patch())
@@ -43,11 +49,11 @@ impl RssVersion {
     }
 
     pub fn minor(&self) -> u8 {
-        ((self.version & 0x0000FF00) >> 16) as u8
+        ((self.version & 0x0000FF00) >> 8) as u8
     }
 
     pub fn patch(&self) -> u8 {
-        ((self.version & 0x000000FF) >> 8) as u8
+        (self.version & 0x000000FF) as u8
     }
 }
 
@@ -92,9 +98,9 @@ where
     pub fn id(&self) -> u32 {
         self.id
     }
+}
 
-    pub fn version(&self) -> RssVersion {
-        let version = unsafe { acc_version_get_hex() };
-        RssVersion::new(version)
-    }
+pub fn rss_version() -> RssVersion {
+    let version = unsafe { acc_version_get_hex() };
+    RssVersion::new(version)
 }