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Fixes #158: panic in access_spi #159

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Fixes #158: panic in access_spi #159

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32 changes: 15 additions & 17 deletions dw1000/src/ll.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -25,7 +25,7 @@ use embedded_hal::spi::{Operation, SpiDevice};
///
/// [hl::DW1000]: ../hl/struct.DW1000.html
pub struct DW1000<SPI> {
spi: SPI,
spi: Option<SPI>,
}

impl<SPI: SpiDevice> DW1000<SPI> {
Expand All @@ -34,7 +34,7 @@ impl<SPI: SpiDevice> DW1000<SPI> {
/// Requires the SPI peripheral and the chip select pin that are connected
/// to the DW1000.
pub fn new(spi: SPI) -> Self {
DW1000 { spi }
DW1000 { spi: Some(spi) }
}

/// Read a whole block of data
Expand All @@ -55,7 +55,7 @@ impl<SPI: SpiDevice> DW1000<SPI> {
buffer[2] = ((start_sub_id & 0x7f80) >> 7) as u8;

// Read the data
self.spi.transfer_in_place(buffer).map_err(Error)?;
self.spi().transfer_in_place(buffer).map_err(Error)?;

Ok(&mut buffer[3..])
}
Expand Down Expand Up @@ -84,21 +84,19 @@ impl<SPI: SpiDevice> DW1000<SPI> {
where
F: FnOnce(SPI) -> SPI,
{
// This is unsafe because we create a zeroed spi.
// Its safety is guaranteed, though, because the zeroed spi is never used.
unsafe {
// Create a zeroed spi.
let spi = core::mem::zeroed();
// Get the spi in the struct.
let spi = core::mem::replace(&mut self.spi, spi);
// Give the spi to the closure and put the result back into the struct.
self.spi = f(spi);
}
// Get the spi in the struct.
let spi = self.spi.take().expect("spi should always be set");
// Give the spi to the closure and put the result back into the struct.
self.spi = Some(f(spi));
}

fn spi(&mut self) -> &mut SPI {
self.spi.as_mut().expect("spi should always be set")
}

/// Deasserts CS, waits the given amount of µs, and reasserts CS
pub(crate) fn wake_up(&mut self, wait_time_us: u32) -> Result<(), Error<SPI>> {
self.spi
self.spi()
.transaction(&mut [Operation::DelayNs(wait_time_us * 1000)])
.map_err(Error)
}
Expand All @@ -124,7 +122,7 @@ where

init_header::<R>(false, buffer);

self.0.spi.transfer_in_place(buffer).map_err(Error)?;
self.0.spi().transfer_in_place(buffer).map_err(Error)?;

Ok(r)
}
Expand All @@ -141,7 +139,7 @@ where
let buffer = R::buffer(&mut w);
init_header::<R>(true, buffer);

self.0.spi.write(buffer).map_err(Error)?;
self.0.spi().write(buffer).map_err(Error)?;

Ok(())
}
Expand All @@ -162,7 +160,7 @@ where
let buffer = <R as Writable>::buffer(&mut w);
init_header::<R>(true, buffer);

self.0.spi.write(buffer).map_err(Error)?;
self.0.spi().write(buffer).map_err(Error)?;

Ok(())
}
Expand Down