Add buzzer to GCS implementation, speed up init

src/gcs.rs

@@ -14,7 +14,7 @@ use embassy_time::{Ticker, Duration};
 
 use defmt::*;
 
-//use crate::buzzer::*;
+use crate::buzzer::Buzzer as BuzzerDriver;
 use crate::lora::*;
 use crate::settings::*;
 use crate::telemetry::*;
@@ -24,6 +24,8 @@ use crate::usb::*;
 type RadioHandle = Radio<SpiDevice<'static, CriticalSectionRawMutex, Spi<'static, SPI1, DMA2_CH3, DMA2_CH2>, Output<'static, PA1>>, Input<'static, PC0>,Input<'static, PC1>>;
 
 type LEDs = (Output<'static, PC13>, Output<'static, PC14>, Output<'static, PC15>);
+// TODO
+type Buzzer = BuzzerDriver<TIM3>;
 
 const MAIN_LOOP_FREQUENCY: Hertz = Hertz::hz(1000);
 
@@ -32,6 +34,7 @@ pub struct GroundControlStation {
     usb: UsbHandle,
     radio: RadioHandle,
     leds: LEDs,
+    buzzer: Buzzer,
 }
 
 // TODO: move to main?
@@ -50,12 +53,14 @@ impl GroundControlStation {
         usb: UsbHandle,
         radio: RadioHandle,
         leds: LEDs,
+        buzzer: Buzzer,
     ) -> Self {
         Self {
             time: core::num::Wrapping(0),
             usb,
             radio,
             leds,
+            buzzer,
         }
     }
 
@@ -81,7 +86,7 @@ impl GroundControlStation {
         self.leds.0.set_level((!(self.radio.transmit_power >= TransmitPower::P20dBm)).into());
         self.leds.1.set_level((!rssi_led).into());
         self.leds.2.set_level((!true).into());
-        //self.buzzer.tick(self.time);
+        self.buzzer.tick(self.time.0);
 
         if let Some(msg) = uplink_msg {
             self.radio.queue_uplink_message(msg);

src/lora.rs

@@ -317,7 +317,7 @@ impl<SPI: SpiDevice<u8>, IRQ: InputPin, BUSY: InputPin> Radio<SPI, IRQ, BUSY> {
 
     #[cfg(feature = "gcs")]
     pub async fn tick(&mut self, time: u32) -> Option<DownlinkMessage> {
-        if self.sequence.is_none() || time < 3000 {
+        if self.sequence.is_none() {
             return None;
         }
 
@@ -331,8 +331,8 @@ impl<SPI: SpiDevice<u8>, IRQ: InputPin, BUSY: InputPin> Radio<SPI, IRQ, BUSY> {
         let fc_time = (self.time as i64).wrapping_add(self.fc_time_offset as i64) as u32;
 
         // When not in contact with the FC we do a slow sweep across channels.
-        if !in_contact && self.time % 5000 == 0 {
-            let i = (self.time as usize / 5000) % CHANNELS.len();
+        if !in_contact && self.time % 1000 == 0 {
+            let i = (self.time as usize / 1000) % CHANNELS.len();
             info!("Sweeping, switching to {}MHz.", (CHANNELS[i] as f32) / 1_000_000.0);
             if let Err(e) = self.trx.set_frequency(CHANNELS[i]).await {
                 error!("Failed to switch frequencies: {:?}", Debug2Format(&e));

src/main.rs

@@ -202,7 +202,7 @@ async fn main(_low_priority_spawner: Spawner) {
     );
 
     #[cfg(feature="gcs")]
-    let gcs = GroundControlStation::init(usb, radio, leds);
+    let gcs = GroundControlStation::init(usb, radio, leds, buzzer);
 
     // Start high priority executor
     interrupt::I2C3_EV.set_priority(Priority::P6);