First implementation only sending.
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.gitignore
vendored
5
.gitignore
vendored
@ -14,3 +14,8 @@ Cargo.lock
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# MSVC Windows builds of rustc generate these, which store debugging information
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*.pdb
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# Added by cargo
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/target
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14
Cargo.toml
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14
Cargo.toml
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@ -0,0 +1,14 @@
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[package]
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name = "dynamixel"
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version = "0.1.0"
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edition = "2021"
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# See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
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[lints.clippy]
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pedantic = "warn"
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nursery = "warn"
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unwrap_used = "deny"
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expect_used = "deny"
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[dependencies]
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42
src/error.rs
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42
src/error.rs
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@ -0,0 +1,42 @@
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#[derive(Debug, PartialEq, Eq, Clone, Copy)]
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pub enum Error {
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/// Failed to process the sent instruction packet
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Result,
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/// Undefined instruction has been used
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Instruction,
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/// CRC of the sent packet does not match
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Crc,
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/// Data to be written in the corresponding address is outside the range of the minimum /
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/// maximum value
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DataRange,
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/// Attempt to write data that is shorter than the data length of the corresponding address
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DataLength,
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/// Data to be written in the corresponding address is outside of the limit value
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DataLimit,
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/// Access error (write to read only, read from write only, write to rom in rom lock)
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Access,
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/// There is some hardware issue with the device. Check hardware error status for details.
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Hardware,
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/// An unknown error code was returned
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Unknown,
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/// The buffer is to small
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BufferSize,
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}
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impl Error {
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/// Converts the error byte from a status packet into a rust result.
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const fn from_byte(byte: u8) -> Result<(), Self> {
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match byte & 0x7F {
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0 if byte & 0x80 == 0 => Ok(()),
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0 => Err(Self::Hardware),
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1 => Err(Self::Result),
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2 => Err(Self::Instruction),
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3 => Err(Self::Crc),
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4 => Err(Self::DataRange),
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5 => Err(Self::DataLength),
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6 => Err(Self::DataLimit),
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7 => Err(Self::Access),
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_ => Err(Self::Unknown), // This shouldn't be possible
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}
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}
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}
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206
src/instruction.rs
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206
src/instruction.rs
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@ -0,0 +1,206 @@
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use crate::error::Error;
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/// An instruction packet sent from the host to the servo.
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///
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/// Structure:
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/// ```text
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/// 0xFF 0xFF 0xFD 0x00 ID Len_L Len_H Instruction Param1 … ParamN CRC_L CRC_H
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/// ```
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#[derive(Debug)]
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pub struct Packet<'a> {
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/// which servo to talk to
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pub id: u8,
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/// what to send to the servo
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pub instruction: Instruction<'a>,
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}
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#[derive(Debug)]
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pub enum Instruction<'a> {
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Ping,
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Read { addr: u16, len: u16 },
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Write { addr: u16, data: &'a [u8] },
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RegWrite { addr: u16, data: &'a [u8] },
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Action,
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FactoryReset(ResetType),
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Reboot,
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Clear,
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ControlTableBackup(BackupDirection),
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SyncRead { addr: u16, len: u16, ids: &'a [u8] },
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SyncWrite { addr: u16, len: u16, data: &'a [u8] },
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FastSyncRead { addr: u16, len: u16, ids: &'a [u8] },
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BulkRead { data: &'a [u8] },
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BulkWrite { data: &'a [u8] },
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FastBulkRead { data: &'a [u8] },
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}
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#[derive(Debug, Clone, Copy)]
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pub enum ResetType {
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All,
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AllExceptId,
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AllExceptIdBaud,
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}
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#[derive(Debug, Clone, Copy)]
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pub enum BackupDirection {
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Store,
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Restore,
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}
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impl<'a> Packet<'a> {
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/// writes the instruction into the provided buffer.
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///
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/// # Errors
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///
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/// This function will return an error if the provided buffer isn't big enough
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pub fn to_bytes<'b>(&self, buffer: &'b mut [u8]) -> Result<&'b mut [u8], Error> {
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if buffer.len() < 10 {
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return Err(Error::BufferSize);
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}
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buffer[..8].copy_from_slice(&[
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0xFF,
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0xFF,
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0xFD,
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0x00,
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self.id,
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0x00,
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0x00,
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self.instruction.number(),
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]);
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let len = self.instruction.insert_parameters(&mut buffer[8..])?;
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buffer[5..7].copy_from_slice(&(len + 3).to_le_bytes());
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let total_length = len as usize + 10;
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// let crc = Self::CRC.checksum(&buffer[..total_length - 2]);
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let crc = Self::crc(&buffer[..total_length - 2]);
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buffer[total_length - 2..total_length].copy_from_slice(&crc.to_le_bytes());
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Ok(&mut buffer[..total_length])
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}
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fn crc(buffer: &[u8]) -> u16 {
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const CRC_TABLE: [u16; 256] = [
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0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011, 0x8033, 0x0036, 0x003C,
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0x8039, 0x0028, 0x802D, 0x8027, 0x0022, 0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D,
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0x8077, 0x0072, 0x0050, 0x8055, 0x805F, 0x005A, 0x804B, 0x004E, 0x0044, 0x8041, 0x80C3,
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0x00C6, 0x00CC, 0x80C9, 0x00D8, 0x80DD, 0x80D7, 0x00D2, 0x00F0, 0x80F5, 0x80FF, 0x00FA,
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0x80EB, 0x00EE, 0x00E4, 0x80E1, 0x00A0, 0x80A5, 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4,
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0x80B1, 0x8093, 0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082, 0x8183, 0x0186,
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0x018C, 0x8189, 0x0198, 0x819D, 0x8197, 0x0192, 0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB,
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0x01AE, 0x01A4, 0x81A1, 0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB, 0x01FE, 0x01F4, 0x81F1,
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0x81D3, 0x01D6, 0x01DC, 0x81D9, 0x01C8, 0x81CD, 0x81C7, 0x01C2, 0x0140, 0x8145, 0x814F,
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0x014A, 0x815B, 0x015E, 0x0154, 0x8151, 0x8173, 0x0176, 0x017C, 0x8179, 0x0168, 0x816D,
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0x8167, 0x0162, 0x8123, 0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132, 0x0110,
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0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104, 0x8101, 0x8303, 0x0306, 0x030C, 0x8309,
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0x0318, 0x831D, 0x8317, 0x0312, 0x0330, 0x8335, 0x833F, 0x033A, 0x832B, 0x032E, 0x0324,
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0x8321, 0x0360, 0x8365, 0x836F, 0x036A, 0x837B, 0x037E, 0x0374, 0x8371, 0x8353, 0x0356,
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0x035C, 0x8359, 0x0348, 0x834D, 0x8347, 0x0342, 0x03C0, 0x83C5, 0x83CF, 0x03CA, 0x83DB,
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0x03DE, 0x03D4, 0x83D1, 0x83F3, 0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2,
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0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7, 0x03B2, 0x0390, 0x8395, 0x839F,
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0x039A, 0x838B, 0x038E, 0x0384, 0x8381, 0x0280, 0x8285, 0x828F, 0x028A, 0x829B, 0x029E,
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0x0294, 0x8291, 0x82B3, 0x02B6, 0x02BC, 0x82B9, 0x02A8, 0x82AD, 0x82A7, 0x02A2, 0x82E3,
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0x02E6, 0x02EC, 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2, 0x02D0, 0x82D5, 0x82DF, 0x02DA,
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0x82CB, 0x02CE, 0x02C4, 0x82C1, 0x8243, 0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257,
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0x0252, 0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264, 0x8261, 0x0220, 0x8225,
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0x822F, 0x022A, 0x823B, 0x023E, 0x0234, 0x8231, 0x8213, 0x0216, 0x021C, 0x8219, 0x0208,
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0x820D, 0x8207, 0x0202,
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];
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let mut crc_acc = 0u16;
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for byte in buffer {
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let i = (crc_acc >> 8) as u8 ^ byte;
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crc_acc = (crc_acc << 8) ^ CRC_TABLE[i as usize];
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}
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crc_acc
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}
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}
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impl<'a> Instruction<'a> {
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const fn number(&self) -> u8 {
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match self {
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Self::Ping => 0x01,
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Self::Read { addr: _, len: _ } => 0x02,
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Self::Write { addr: _, data: _ } => 0x03,
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Self::RegWrite { addr: _, data: _ } => 0x04,
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Self::Action => 0x05,
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Self::FactoryReset(_) => 0x06,
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Self::Reboot => 0x08,
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Self::Clear => 0x10,
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Self::ControlTableBackup(_) => 0x20,
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Self::SyncRead {
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addr: _,
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len: _,
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ids: _,
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} => 0x82,
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Self::SyncWrite {
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addr: _,
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len: _,
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data: _,
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} => 0x83,
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Self::FastSyncRead {
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addr: _,
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len: _,
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ids: _,
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} => 0x8A,
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Self::BulkRead { data: _ } => 0x92,
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Self::BulkWrite { data: _ } => 0x93,
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Self::FastBulkRead { data: _ } => 0x9A,
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}
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}
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fn insert_parameters(&self, buffer: &mut [u8]) -> Result<u16, Error> {
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use Instruction::{
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Action, BulkRead, BulkWrite, Clear, ControlTableBackup, FactoryReset, FastBulkRead,
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FastSyncRead, Ping, Read, Reboot, RegWrite, SyncRead, SyncWrite, Write,
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};
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match self {
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Ping | Action | Reboot => Ok(0),
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Read { addr, len } if buffer.len() >= 4 => {
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buffer[..2].copy_from_slice(&addr.to_le_bytes());
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buffer[2..4].copy_from_slice(&len.to_le_bytes());
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Ok(4)
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}
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Write { addr, data } | RegWrite { addr, data } if buffer.len() >= 2 + data.len() => {
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buffer[..2].copy_from_slice(&addr.to_le_bytes());
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buffer[2..data.len() + 2].copy_from_slice(data);
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Ok(2 + u16::try_from(data.len()).map_err(|_| Error::Unknown)?)
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}
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FactoryReset(reset) if !buffer.is_empty() => {
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buffer[0] = match reset {
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ResetType::All => 0xFF,
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ResetType::AllExceptId => 0x01,
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ResetType::AllExceptIdBaud => 0x02,
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};
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Ok(1)
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}
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Clear if buffer.len() >= 5 => {
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buffer[..6].copy_from_slice(&[0x01, 0x44, 0x58, 0x4C, 0x22]);
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Ok(5)
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}
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ControlTableBackup(direction) if buffer.len() >= 5 => {
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buffer[0] = match direction {
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BackupDirection::Store => 0x01,
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BackupDirection::Restore => 0x02,
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};
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buffer[1..6].copy_from_slice(&[0x43, 0x54, 0x52, 0x4C]);
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Ok(5)
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}
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SyncRead { addr, len, ids } | FastSyncRead { addr, len, ids }
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if buffer.len() >= 4 + ids.len() =>
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{
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buffer[..2].copy_from_slice(&addr.to_le_bytes());
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buffer[2..4].copy_from_slice(&len.to_le_bytes());
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buffer[4..4 + ids.len()].copy_from_slice(ids);
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Ok(4 + u16::try_from(ids.len()).map_err(|_| Error::Unknown)?)
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}
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SyncWrite {
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addr: _,
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len: _,
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data: _,
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} => unimplemented!(),
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BulkRead { data: _ } => unimplemented!(),
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BulkWrite { data: _ } => unimplemented!(),
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FastBulkRead { data: _ } => unimplemented!(),
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_ => Err(Error::BufferSize),
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}
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}
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}
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4
src/lib.rs
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4
src/lib.rs
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@ -0,0 +1,4 @@
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#![no_std]
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pub mod error;
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pub mod instruction;
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