p2 WIP

Cargo.toml

@@ -33,7 +33,8 @@ name = "tc2-agent"
 maintainer = "Cacophony Developers <[email protected]>"
 depends = ""
 assets = [
-  ["target/release/tc2-agent", "/usr/bin/", "755"], # Binary asset
+  ["target/release/tc2-agent", "/usr/bin/", "755"],
   ["_releases/tc2-agent.service", "/etc/systemd/system/tc2-agent.service", "664"],
+  ["_releases/rp2040-firmware.elf", "/etc/cacophony/rp2040-firmware.elf", "664"],
 ]
 maintainer-scripts = "_releases/scripts"

_releases/scripts/postinst

@@ -1,4 +1,9 @@
 #!/bin/bash
 systemctl daemon-reload
-systemctl enable tc2-agent.service
-systemctl restart tc2-agent.service
+systemctl stop tc2-agent.service
+
+## Program RP2040 firmware
+#openocd -f /etc/cacophony/raspberrypi-swd.cfg -f /target/rp2040.cfg -c /etc/cacophony/rp2040.elf
+tc2-hat-rp2040 --elf /etc/cacophony/rp2040-firmware.elf
+
+systemctl start tc2-agent.service

_releases/tc2-agent.service

@@ -6,7 +6,7 @@ After=multi-user.target
 [Service]
 Type=simple
 ExecStart=/usr/bin/tc2-agent
-Restart=on-failure
+Restart=always
 RestartSec=5s
 
 # Give real-time priority

src/main.rs

@@ -198,7 +198,8 @@ fn main() {
         let mut raw_read_buffer = [0u8; 1024 * 1024];
 
         //let spi_speed = 30_000_000; // rPi4 can handle this in PIO mode
-        let spi_speed = config.spi_speed * 1_000_000; // rPi3 can handle 12Mhz (@600Mhz), may need to back it off a little to have some slack.
+        //let spi_speed = config.spi_speed * 1_000_000; // rPi3 can handle 12Mhz (@600Mhz), may need to back it off a little to have some slack.
+        let spi_speed = 8_000_000;
         println!("Initialising SPI at {}Mhz", config.spi_speed);
         let mut spi = Spi::new(Bus::Spi0, SlaveSelect::Ss0, spi_speed, Mode::Mode2).unwrap();
         spi.set_bits_per_word(8).unwrap();