From 66e0da1d7337bfb3d5cfb1e408daf12907516651 Mon Sep 17 00:00:00 2001
From: Noah Sprenger <noah.r.sprenger@gmail.com>
Date: Sun, 7 Jul 2024 19:59:47 -0400
Subject: [PATCH] WIP: Test pinout compatibility.

---
 boards/communication/src/communication.rs | 15 ++++----
 boards/communication/src/gps.rs           | 43 +++++++++++++++++++++++
 boards/communication/src/main.rs          | 26 +++++++++++---
 boards/communication/src/types.rs         | 10 ++++--
 4 files changed, 81 insertions(+), 13 deletions(-)
 create mode 100644 boards/communication/src/gps.rs

diff --git a/boards/communication/src/communication.rs b/boards/communication/src/communication.rs
index bdee0df0..738481f4 100644
--- a/boards/communication/src/communication.rs
+++ b/boards/communication/src/communication.rs
@@ -7,9 +7,12 @@ use atsamd_hal::clock::v2::pclk::Pclk;
 use atsamd_hal::clock::v2::pclk::PclkToken;
 use atsamd_hal::clock::v2::types::Can0;
 use atsamd_hal::clock::v2::Source;
-use atsamd_hal::gpio::{Alternate, AlternateI, Disabled, Floating, Pin, I, PA22, PA23, PB16, PB17};
+use atsamd_hal::gpio::{
+    Alternate, AlternateI, Disabled, Floating, Pin, I, PA08, PA09, PA22, PA23, PB16, PB17,
+};
 use atsamd_hal::pac::CAN0;
 use atsamd_hal::pac::MCLK;
+use atsamd_hal::pac::SERCOM0;
 use atsamd_hal::pac::SERCOM5;
 use atsamd_hal::prelude::_embedded_hal_serial_Read;
 use atsamd_hal::sercom;
@@ -215,18 +218,18 @@ pub struct RadioDevice {
 
 impl RadioDevice {
     pub fn new<S>(
-        radio_token: PclkToken<SERCOM5>,
+        radio_token: PclkToken<SERCOM0>,
         mclk: &MCLK,
-        sercom: SERCOM5,
-        rx_pin: Pin<PB17, Disabled<Floating>>,
-        tx_pin: Pin<PB16, Disabled<Floating>>,
+        sercom: SERCOM0,
+        rx_pin: Pin<PA09, Disabled<Floating>>,
+        tx_pin: Pin<PA08, Disabled<Floating>>,
         gclk0: S,
     ) -> (Self, S::Inc)
     where
         S: Source<Id = Gclk0Id> + Increment,
     {
         let (pclk_radio, gclk0) = Pclk::enable(radio_token, gclk0);
-        let pads = uart::Pads::<sercom::Sercom5, _>::default()
+        let pads = uart::Pads::<sercom::Sercom0, _>::default()
             .rx(rx_pin)
             .tx(tx_pin);
         let uart = GroundStationUartConfig::new(mclk, sercom, pads, pclk_radio.freq())
diff --git a/boards/communication/src/gps.rs b/boards/communication/src/gps.rs
new file mode 100644
index 00000000..5c126fa4
--- /dev/null
+++ b/boards/communication/src/gps.rs
@@ -0,0 +1,43 @@
+use crate::types::*;
+use atsamd_hal::clock::v2::gclk::Gclk0Id;
+use atsamd_hal::clock::v2::pclk::Pclk;
+use atsamd_hal::clock::v2::pclk::PclkToken;
+use atsamd_hal::clock::v2::Source;
+use atsamd_hal::gpio::{Disabled, Floating, Pin, PA12, PA13};
+use atsamd_hal::pac::{MCLK, SERCOM2};
+use atsamd_hal::typelevel::Increment;
+use atsamd_hal::{
+    sercom,
+    sercom::{uart, uart::Duplex, uart::Uart},
+};
+use systick_monotonic::fugit::RateExtU32;
+
+pub struct GpsDevice {
+    pub uart: Uart<GpsUartConfig, Duplex>,
+}
+
+impl GpsDevice {
+    pub fn new<S>(
+        gps_token: PclkToken<SERCOM2>,
+        mclk: &MCLK,
+        sercom: SERCOM2,
+        rx_pin: Pin<PA13, Disabled<Floating>>,
+        tx_pin: Pin<PA12, Disabled<Floating>>,
+        gclk0: S,
+    ) -> (Self, S::Inc)
+    where
+        S: Source<Id = Gclk0Id> + Increment,
+    {
+        let (pclk_gps, gclk0) = Pclk::enable(gps_token, gclk0);
+        let pads = uart::Pads::<sercom::Sercom2, _>::default()
+            .rx(rx_pin)
+            .tx(tx_pin);
+        let uart = GpsUartConfig::new(mclk, sercom, pads, pclk_gps.freq())
+            .baud(
+                57600.Hz(), // check this
+                uart::BaudMode::Fractional(uart::Oversampling::Bits16),
+            )
+            .enable();
+        (GpsDevice { uart }, gclk0)
+    }
+}
diff --git a/boards/communication/src/main.rs b/boards/communication/src/main.rs
index dcd1ea95..73994593 100644
--- a/boards/communication/src/main.rs
+++ b/boards/communication/src/main.rs
@@ -3,6 +3,7 @@
 
 mod communication;
 mod data_manager;
+mod gps;
 mod health;
 mod types;
 
@@ -57,6 +58,7 @@ mod app {
     #[local]
     struct Local {
         led: Pin<PA05, PushPullOutput>,
+        gps_device: gps::GpsDevice,
         sd_manager: SdManager<
             Spi<
                 Config<
@@ -121,16 +123,26 @@ mod app {
 
         /* Radio config */
         let (radio, gclk0) = RadioDevice::new(
-            tokens.pclks.sercom5,
+            tokens.pclks.sercom0,
             &mclk,
-            peripherals.SERCOM5,
-            pins.pb17,
-            pins.pb16,
+            peripherals.SERCOM0,
+            pins.pa09,
+            pins.pa08,
             gclk0,
         );
 
         let radio_manager = RadioManager::new(radio);
 
+        /* GPS config */
+        let (gps_device, gclk0) = gps::GpsDevice::new(
+            tokens.pclks.sercom2,
+            &mclk,
+            peripherals.SERCOM2,
+            pins.pa13,
+            pins.pa12,
+            gclk0,
+        );
+
         /* SD config */
         let (pclk_sd, gclk0) = Pclk::enable(tokens.pclks.sercom4, gclk0);
         let pads_spi = spi::Pads::<Sercom4, IoSet1>::default()
@@ -189,7 +201,11 @@ mod app {
                 radio_manager,
                 can0,
             },
-            Local { led, sd_manager },
+            Local {
+                led,
+                gps_device,
+                sd_manager,
+            },
             init::Monotonics(mono),
         )
     }
diff --git a/boards/communication/src/types.rs b/boards/communication/src/types.rs
index 34315d1c..7fb09ecc 100644
--- a/boards/communication/src/types.rs
+++ b/boards/communication/src/types.rs
@@ -1,6 +1,6 @@
 use atsamd_hal::gpio::*;
 use atsamd_hal::sercom::uart::EightBit;
-use atsamd_hal::sercom::{uart, IoSet1, Sercom5};
+use atsamd_hal::sercom::{uart, IoSet1, IoSet3, Sercom0, Sercom2, Sercom4, Sercom5};
 use messages::node::Node;
 use messages::node::Node::CommunicationBoard;
 
@@ -12,5 +12,11 @@ pub static COM_ID: Node = CommunicationBoard;
 // -------
 // Ground Station
 // -------
-pub type GroundStationPads = uart::PadsFromIds<Sercom5, IoSet1, PB17, PB16>;
+pub type GroundStationPads = uart::PadsFromIds<Sercom0, IoSet1, PA09, PA08>;
 pub type GroundStationUartConfig = uart::Config<GroundStationPads, EightBit>;
+
+// -------
+// GPS
+// -------
+pub type GpsPads = uart::PadsFromIds<Sercom2, IoSet1, PA13, PA12>;
+pub type GpsUartConfig = uart::Config<GpsPads, EightBit>;