Move dw1000 out of the main crate

.github/workflows/ci.yaml

@@ -28,3 +28,12 @@ jobs:
     - uses: actions/checkout@v4
     - uses: dtolnay/rust-toolchain@stable
     - run: cargo clippy -- -D warnings
+
+  build-no-std:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v4
+    - uses: dtolnay/rust-toolchain@stable
+      with:
+        targets: thumbv7em-none-eabihf
+    - run: cargo build --target thumbv7em-none-eabihf --no-default-features --features defmt-03

Cargo.toml

@@ -1,5 +1,6 @@
 [workspace]
 resolver = "3"
 members = [
-    "lr-wpan-rs"
+    "lr-wpan-rs",
+    "lr-wpan-rs-dw1000"
 ]

lr-wpan-rs-dw1000/Cargo.toml

@@ -0,0 +1,17 @@
+[package]
+name = "lr-wpan-rs-dw1000"
+version = "0.1.0"
+edition = "2021"
+
+[dependencies]
+lr-wpan-rs = { path = "../lr-wpan-rs", default-features = false }
+dw1000 = { git = "https://github.com/jkelleyrtp/dw1000-rs", rev = "698987dbfebb2db16bf20c166bf0d75c16f982c1" }
+embassy-futures = "0.1.1"
+embedded-hal = "1.0.0"
+embedded-hal-async = "1.0.0"
+micromath = "2.1.0"
+nb = "1.1.0"
+defmt = { version = "0.3.10", optional = true }
+
+[features]
+defmt-03 = ["dep:defmt"]

lr-wpan-rs/src/phy/dw1000.rs → lr-wpan-rs-dw1000/src/lib.rs

@@ -1,3 +1,5 @@
+#![no_std]
+
 use core::fmt::{Debug, Display};
 
 pub use dw1000;
@@ -7,19 +9,17 @@ use dw1000::{
 use embassy_futures::select::{select, Either};
 use embedded_hal::{delay::DelayNs as DelayNsSync, digital::ErrorType, spi::SpiDevice};
 use embedded_hal_async::{delay::DelayNs, digital::Wait};
-#[allow(unused_imports)]
-use micromath::F32Ext;
-
-use super::{ModulationType, Phy, ReceivedMessage};
-use crate::{
-    phy::SendContinuation,
+use lr_wpan_rs::{
+    phy::{ModulationType, Phy, ReceivedMessage, SendContinuation},
     pib::{
         CcaMode, ChannelDescription, NativePrf, PhyPib, PhyPibWrite, TXPowerTolerance,
         UwbCurrentPulseShape,
     },
     time::{Duration, Instant},
     ChannelPage,
 };
+#[allow(unused_imports)]
+use micromath::F32Ext;
 
 const TIME_CHECK_INTERVAL_MILLIS: u32 = 5000;
 const TIME_CHECK_MILLIS_PER_DELAY: u32 = 100;
@@ -90,7 +90,7 @@ impl<SPI: SpiDevice, IRQ: Wait, DELAY: DelayNs> DW1000Phy<SPI, IRQ, DELAY> {
     }
 }
 
-impl<SPI: SpiDevice, IRQ: Wait, DELAY: DelayNs> super::Phy for DW1000Phy<SPI, IRQ, DELAY> {
+impl<SPI: SpiDevice, IRQ: Wait, DELAY: DelayNs> Phy for DW1000Phy<SPI, IRQ, DELAY> {
     type Error = Error<SPI, IRQ>;
 
     type ProcessingContext = Either<Result<(), IRQ::Error>, ()>;
@@ -108,7 +108,8 @@ impl<SPI: SpiDevice, IRQ: Wait, DELAY: DelayNs> super::Phy for DW1000Phy<SPI, IR
         const SYMBOLS_PER_OCTET: f32 = 9.17648; // Not too sure... This is `8 * (1s / symbol duration in secs (Tdsym)) / 850_000`
         const SHR_DURATION: u32 = NUM_PREAMBLE_SYMBOLS + NUM_SFD_SYMBOLS;
         let max_frame_duration = SHR_DURATION
-            + (((crate::consts::MAX_PHY_PACKET_SIZE + 1) as f32 * SYMBOLS_PER_OCTET).ceil() as u32);
+            + (((lr_wpan_rs::consts::MAX_PHY_PACKET_SIZE + 1) as f32 * SYMBOLS_PER_OCTET).ceil()
+                as u32);
 
         self.phy_pib = PhyPib {
             pib_write: PhyPibWrite {
@@ -118,8 +119,8 @@ impl<SPI: SpiDevice, IRQ: Wait, DELAY: DelayNs> super::Phy for DW1000Phy<SPI, IR
                 cca_mode: CcaMode::Aloha,                  // TODO: Not reflected in driver
                 current_page: UWB_CHANNEL_PAGE,
                 uwb_current_pulse_shape: UwbCurrentPulseShape::Mandatory, // Only supported shape
-                uwb_cou_pulse: crate::pib::UwbCouPulse::CCh1,
-                uwb_cs_pulse: crate::pib::UwbCsPulse::No1,
+                uwb_cou_pulse: lr_wpan_rs::pib::UwbCouPulse::CCh1,
+                uwb_cs_pulse: lr_wpan_rs::pib::UwbCsPulse::No1,
                 uwb_lcp_weight1: 0,
                 uwb_lcp_weight2: 0,
                 uwb_lcp_weight3: 0,
@@ -179,7 +180,7 @@ impl<SPI: SpiDevice, IRQ: Wait, DELAY: DelayNs> super::Phy for DW1000Phy<SPI, IR
         Ok(())
     }
 
-    async fn get_instant(&mut self) -> Result<crate::time::Instant, Self::Error> {
+    async fn get_instant(&mut self) -> Result<lr_wpan_rs::time::Instant, Self::Error> {
         let sys_time = match &mut self.dw1000 {
             DW1000::Empty => return Err(Error::WrongState),
             DW1000::Ready(dw1000) => dw1000.sys_time()?.value(),
@@ -209,11 +210,11 @@ impl<SPI: SpiDevice, IRQ: Wait, DELAY: DelayNs> super::Phy for DW1000Phy<SPI, IR
     async fn send(
         &mut self,
         data: &[u8],
-        send_time: Option<crate::time::Instant>,
+        send_time: Option<lr_wpan_rs::time::Instant>,
         ranging: bool,
         use_csma: bool,
-        continuation: super::SendContinuation,
-    ) -> Result<super::SendResult, Self::Error> {
+        continuation: lr_wpan_rs::phy::SendContinuation,
+    ) -> Result<lr_wpan_rs::phy::SendResult, Self::Error> {
         assert!(!use_csma, "Not supported");
         assert!(
             !matches!(continuation, SendContinuation::WaitForResponse { .. }),
@@ -272,7 +273,7 @@ impl<SPI: SpiDevice, IRQ: Wait, DELAY: DelayNs> super::Phy for DW1000Phy<SPI, IR
             Err((_dw1000, e)) => {
                 // No real recovery possible...
                 #[cfg(feature = "defmt-03")]
-                panic!("Could not finish sending: {}", defmt::Debug2Format(&e));
+                defmt::panic!("Could not finish sending: {}", defmt::Debug2Format(&e));
                 #[cfg(not(feature = "defmt-03"))]
                 panic!("Could not finish sending: {:?}", e);
             }
@@ -285,7 +286,7 @@ impl<SPI: SpiDevice, IRQ: Wait, DELAY: DelayNs> super::Phy for DW1000Phy<SPI, IR
             self.start_receive().await?;
         }
 
-        Ok(super::SendResult::Success(tx_time))
+        Ok(lr_wpan_rs::phy::SendResult::Success(tx_time))
     }
 
     async fn start_receive(&mut self) -> Result<(), Self::Error> {
@@ -350,7 +351,7 @@ impl<SPI: SpiDevice, IRQ: Wait, DELAY: DelayNs> super::Phy for DW1000Phy<SPI, IR
                             Ok(message) => {
                                 let timestamp = self.convert_to_mac_time(message.rx_time).await?;
 
-                                Ok(Some(super::ReceivedMessage {
+                                Ok(Some(lr_wpan_rs::phy::ReceivedMessage {
                                     timestamp,
                                     data: message.bytes.try_into().unwrap(),
                                     lqi: 255, // TODO
@@ -379,7 +380,7 @@ impl<SPI: SpiDevice, IRQ: Wait, DELAY: DelayNs> super::Phy for DW1000Phy<SPI, IR
 
     async fn update_phy_pib<U>(
         &mut self,
-        f: impl FnOnce(&mut crate::pib::PhyPibWrite) -> U,
+        f: impl FnOnce(&mut lr_wpan_rs::pib::PhyPibWrite) -> U,
     ) -> Result<U, Self::Error> {
         let old_pib = self.phy_pib.pib_write.clone();
         let old_rx_config = self.current_rx_config;
@@ -492,7 +493,7 @@ impl<SPI: SpiDevice, IRQ: Wait, DELAY: DelayNs> super::Phy for DW1000Phy<SPI, IR
         }
     }
 
-    async fn get_phy_pib(&mut self) -> Result<&crate::pib::PhyPib, Self::Error> {
+    async fn get_phy_pib(&mut self) -> Result<&lr_wpan_rs::pib::PhyPib, Self::Error> {
         Ok(&self.phy_pib)
     }
 }

lr-wpan-rs/Cargo.toml

@@ -9,30 +9,28 @@ repository = "https://github.com/tweedegolf/lr-wpan-rs"
 readme = "README.md"
 
 [dependencies]
-embassy-futures = { git = "https://github.com/embassy-rs/embassy.git", tag = "embassy-stm32-v0.2.0", default-features = false }
-embassy-sync = { git = "https://github.com/embassy-rs/embassy.git", tag = "embassy-stm32-v0.2.0" }
+embassy-futures = { version = "0.1.1", default-features = false }
+embassy-sync = { version = "0.6.2" }
 
-arrayvec = { version = "0.7.6", default-features = false }
 critical-section = "1.2.0"
 maitake-sync = { version = "0.2.1", default-features = false }
-dw1000 = { git = "https://github.com/jkelleyrtp/dw1000-rs", rev = "698987dbfebb2db16bf20c166bf0d75c16f982c1" }
-embedded-hal = "1.0.0"
-embedded-hal-async = "1.0.0"
-nb = "1.1.0"
-micromath = "2.1.0"
 rand_core = "0.9.0"
-pcap-file = { version = "2.0.0", optional = true }
 defmt = { version = "0.3.8", optional = true }
-log = { version = "0.4.22", optional = true }
 arraydeque = { version = "0.5.1", default-features = false }
 byte = "0.2.7"
-rand = { version = "0.9.0", optional = true }
 futures = { version = "0.3.31", default-features = false, features = ["async-await"] }
+micromath = "2.1.0"
+embedded-hal-async = "1.0.0"
 
 heapless = "0.8.0"
 ccm = { version = "0.4.0", default-features = false }
 cipher = { version = "0.3.0", default-features = false }
+
+# test-helpers
+pcap-file = { version = "2.0.0", optional = true }
+log = { version = "0.4.22", optional = true }
 tokio = { version = "1.41.0", optional = true, default-features = false, features = ["time", "test-util"] }
+rand = { version = "0.9.0", optional = true }
 
 [dev-dependencies]
 test-log = "0.2.16"
@@ -47,6 +45,6 @@ default = ["test_helpers"]
 std = ["critical-section/std"]
 test_helpers = ["std", "dep:tokio", "log-04", "dep:rand", "dep:pcap-file"]
 ## Use [`defmt`](https://docs.rs/defmt/latest/defmt/) for logging
-defmt-03 = ["dep:defmt"]
+defmt-03 = ["dep:defmt", "heapless/defmt-03"]
 ## Use [`log`](https://docs.rs/log/latest/log/) for logging
 log-04 = ["dep:log"]

lr-wpan-rs/src/mac/mlme_reset.rs

@@ -1,5 +1,3 @@
-#[allow(unused_imports)]
-use micromath::F32Ext;
 use rand_core::RngCore;
 
 use super::{commander::RequestResponder, state::MacState, MacConfig, MacError};

lr-wpan-rs/src/mac/mlme_scan.rs

@@ -180,7 +180,10 @@ impl ScanProcess<'_> {
             }
 
             // Push the descriptor
-            self.results.pan_descriptor_list.push(pan_descriptor);
+            self.results
+                .pan_descriptor_list
+                .push(pan_descriptor)
+                .unwrap();
             self.results.result_list_size += 1;
 
             // End the scan if full

lr-wpan-rs/src/mac/state.rs

@@ -1,5 +1,5 @@
 use arraydeque::ArrayDeque;
-use arrayvec::ArrayVec;
+use heapless::Vec;
 use rand_core::RngCore;
 
 use super::{callback::SendCallback, mlme_scan::ScanProcess, MacConfig};
@@ -57,10 +57,13 @@ impl MacState<'_> {
     pub fn serialize_frame(
         &mut self,
         frame: crate::wire::Frame<'_>,
-    ) -> ArrayVec<u8, { crate::consts::MAX_PHY_PACKET_SIZE }> {
+    ) -> Vec<u8, { crate::consts::MAX_PHY_PACKET_SIZE }> {
         use byte::TryWrite;
 
-        let mut buffer = ArrayVec::from([0; crate::consts::MAX_PHY_PACKET_SIZE]);
+        let mut buffer = Vec::new();
+        buffer
+            .resize_default(crate::consts::MAX_PHY_PACKET_SIZE)
+            .unwrap();
         let length = frame
             .try_write(&mut buffer, &mut self.frame_ser_des_context())
             .expect("Buffer is always big enough");
@@ -107,7 +110,7 @@ pub struct MessageScheduler<'a> {
 impl<'a> MessageScheduler<'a> {
     pub fn schedule_broadcast_priority(
         &mut self,
-        data: ArrayVec<u8, { crate::consts::MAX_PHY_PACKET_SIZE }>,
+        data: Vec<u8, { crate::consts::MAX_PHY_PACKET_SIZE }>,
         callback: SendCallback<'a>,
     ) {
         if self
@@ -122,7 +125,7 @@ impl<'a> MessageScheduler<'a> {
     #[expect(dead_code, reason = "for future use")]
     pub fn schedule_broadcast(
         &mut self,
-        data: ArrayVec<u8, { crate::consts::MAX_PHY_PACKET_SIZE }>,
+        data: Vec<u8, { crate::consts::MAX_PHY_PACKET_SIZE }>,
         callback: SendCallback<'a>,
     ) {
         if self
@@ -148,7 +151,7 @@ impl<'a> MessageScheduler<'a> {
 }
 
 pub struct ScheduledMessage<'a> {
-    pub data: ArrayVec<u8, { crate::consts::MAX_PHY_PACKET_SIZE }>,
+    pub data: Vec<u8, { crate::consts::MAX_PHY_PACKET_SIZE }>,
     pub callback: SendCallback<'a>,
 }
 

lr-wpan-rs/src/phy/mod.rs → lr-wpan-rs/src/phy.rs

@@ -1,13 +1,11 @@
-use arrayvec::ArrayVec;
+use heapless::Vec;
 
 use crate::{
     pib::{PhyPib, PhyPibWrite},
     time::{Duration, Instant},
     ChannelPage,
 };
 
-pub mod dw1000;
-
 pub trait Phy {
     #[cfg(not(feature = "defmt-03"))]
     type Error: core::error::Error;
@@ -111,7 +109,7 @@ pub enum SendContinuation {
 pub struct ReceivedMessage {
     /// The time at which the message was received
     pub timestamp: Instant,
-    pub data: ArrayVec<u8, 127>,
+    pub data: Vec<u8, 127>,
     /// The LQI at which the network beacon was received. Lower values represent lower LQI, as defined in 8.2.6.
     pub lqi: u8,
     /// The channel on which the message was received

lr-wpan-rs/src/sap/beacon_notify.rs

@@ -1,4 +1,4 @@
-use arrayvec::ArrayVec;
+use heapless::Vec;
 
 use super::{Indication, IndicationValue, PanDescriptor};
 use crate::{consts::MAX_BEACON_PAYLOAD_LENGTH, wire::beacon::PendingAddress};
@@ -16,7 +16,7 @@ pub struct BeaconNotifyIndication {
     /// The set of octets comprising the beacon
     /// payload to be transferred from the MAC
     /// sublayer entity to the next higher layer.
-    pub sdu: ArrayVec<u8, MAX_BEACON_PAYLOAD_LENGTH>,
+    pub sdu: Vec<u8, MAX_BEACON_PAYLOAD_LENGTH>,
 }
 
 impl From<IndicationValue> for BeaconNotifyIndication {

lr-wpan-rs/src/sap/data.rs

@@ -1,4 +1,4 @@
-use arrayvec::ArrayVec;
+use heapless::Vec;
 
 use super::{
     ConfirmValue, Indication, IndicationValue, Request, RequestValue, SecurityInfo, Status,
@@ -49,7 +49,7 @@ pub struct DataRequest {
     /// The individual device address of the entity to which the MSDU is being transferred.
     pub dst_addr: Option<DeviceAddress>,
     /// The set of octets forming the MSDU to be transmitted by the MAC sublayer entity.
-    pub msdu: ArrayVec<u8, { crate::consts::MAX_MAC_PAYLOAD_SIZE }>,
+    pub msdu: Vec<u8, { crate::consts::MAX_MAC_PAYLOAD_SIZE }>,
     /// The handle associated with the MSDU to be transmitted by the MAC sublayer entity.
     pub msdu_handle: u8,
     /// TRUE if acknowledged transmission is used, FALSE otherwise.
@@ -206,7 +206,7 @@ pub struct DataIndication {
     /// The individual device address of the entity to which the MSDU is being transferred.
     pub dst_addr: Option<DeviceAddress>,
     /// The set of octets forming the MSDU being indicated by the MAC sublayer entity.
-    pub msdu: ArrayVec<u8, { crate::consts::MAX_MAC_PAYLOAD_SIZE }>,
+    pub msdu: Vec<u8, { crate::consts::MAX_MAC_PAYLOAD_SIZE }>,
     /// LQI value measured during reception of the MPDU.
     /// Lower values represent lower LQI, as described in 8.2.6.
     pub mpdu_link_quality: u8,

lr-wpan-rs/src/sap/scan.rs

@@ -1,4 +1,4 @@
-use arrayvec::ArrayVec;
+use heapless::Vec;
 
 use super::{ConfirmValue, PanDescriptor, Request, RequestValue, SecurityInfo, Status};
 use crate::ChannelPage;
@@ -11,7 +11,7 @@ use crate::ChannelPage;
 #[derive(Debug, Clone, PartialEq, Eq)]
 pub struct ScanRequest {
     pub scan_type: ScanType,
-    pub scan_channels: ArrayVec<u8, 16>,
+    pub scan_channels: Vec<u8, 16>,
     /// A value used to calculate the length of time to
     /// spend scanning each channel for ED, active,
     /// and passive scans. This parameter is ignored for
@@ -83,7 +83,7 @@ pub struct ScanConfirm {
     /// A list of the channels given in the
     /// request which were not scanned. This
     /// parameter is not valid for ED scans.
-    pub unscanned_channels: ArrayVec<u8, 16>,
+    pub unscanned_channels: Vec<u8, 16>,
     /// The number of elements returned in
     /// the appropriate result lists. This value
     /// is zero for the result of an orphan scan.
@@ -92,14 +92,14 @@ pub struct ScanConfirm {
     /// for each channel searched during an
     /// ED scan. This parameter is null for
     /// active, passive, and orphan scans.
-    pub energy_detect_list: ArrayVec<u8, 16>,
+    pub energy_detect_list: Vec<u8, 16>,
     /// The list of PAN descriptors, one for
     /// each beacon found during an active or
     /// passive scan if macAutoRequest is set
     /// to TRUE. This parameter is null for
     /// ED and orphan scans or when macAutoRequest is set to FALSE during an
     /// active or passive scan.
-    pub pan_descriptor_list: alloc::boxed::Box<ArrayVec<PanDescriptor, 16>>,
+    pub pan_descriptor_list: alloc::boxed::Box<Vec<PanDescriptor, 16>>,
     /// Categorization of energy detected in
     /// channel with the following values:
     /// - 0: Category detection is not supported
@@ -113,7 +113,7 @@ pub struct ScanConfirm {
     /// ResultListSize. This parameter is null
     /// for active, passive, and orphan scans. It
     /// is also null for non-UWB PHYs.
-    pub uwb_energy_detect_list: ArrayVec<u8, 16>,
+    pub uwb_energy_detect_list: Vec<u8, 16>,
 }
 
 impl From<ConfirmValue> for ScanConfirm {