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

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)
 }