firmware/src/ad7172/adc.rs

@@ -65,6 +65,8 @@ impl<SPI: Transfer<u8>, NSS: OutputPin> Adc<SPI, NSS> {
             data.set_enh_filt_en(true);
             data.set_enh_filt(PostFilter::F16SPS);
             data.set_order(DigitalFilterOrder::Sinc5Sinc1);
+            // 10 Hz data rate
+            data.set_odr(0b10011);
         })?;
         // let mut offset = <regs::Offset as regs::Register>::Data::empty();
         // offset.set_offset(0);

firmware/src/command_parser.rs

@@ -3,10 +3,10 @@ use nom::{
     IResult,
     branch::alt,
     bytes::complete::{is_a, tag, take_while1},
-    character::{is_digit, complete::{char, one_of}},
-    combinator::{complete, map, value},
+    character::{is_digit, complete::char},
+    combinator::{map, value},
     sequence::preceded,
-    multi::{fold_many0, fold_many1},
+    multi::fold_many1,
     error::ErrorKind,
 };
 use lexical_core as lexical;
@@ -101,15 +101,6 @@ pub enum Command {
     },
 }
 
-fn end(input: &[u8]) -> IResult<&[u8], ()> {
-    complete(
-        fold_many0(
-            one_of("\r\n\t "),
-            (), |(), _| ()
-        )
-    )(input)
-}
-
 fn whitespace(input: &[u8]) -> IResult<&[u8], ()> {
     fold_many1(char(' '), (), |(), _| ())(input)
 }
@@ -150,11 +141,11 @@ fn report(input: &[u8]) -> IResult<&[u8], Command> {
                                 |reporting| Command::Reporting(reporting))
                         ),
                         // `report mode` - Show current reporting state
-                        value(Command::Show(ShowCommand::Reporting), end)
+                        |input| Ok((input, Command::Show(ShowCommand::Reporting)))
                     ))
                 )),
             // `report` - Report once
-            value(Command::Show(ShowCommand::Input), end)
+            |input| Ok((input, Command::Show(ShowCommand::Input)))
         ))
     )(input)
 }
@@ -189,7 +180,7 @@ fn pwm(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
                 pwm_pid,
                 pwm_manual,
             ))),
-        value(Ok(Command::Show(ShowCommand::Pwm)), end)
+        |input| Ok((input, Ok(Command::Show(ShowCommand::Pwm))))
     ))(input)
 }
 
@@ -222,13 +213,15 @@ fn pid(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
             whitespace,
             pid_parameter
         ),
-        value(Ok(Command::Show(ShowCommand::Pid)), end)
+        |input| Ok((input, Ok(Command::Show(ShowCommand::Pid))))
     ))(input)
 }
 
 fn command(input: &[u8]) -> IResult<&[u8], Result<Command, Error>> {
     alt((value(Ok(Command::Quit), tag("quit")),
-         map(report, Ok),
+         |input| report(input).map(|(input, command)| {
+             (input, Ok(command))
+         }),
          pwm,
          pid,
     ))(input)

firmware/src/main.rs

@@ -129,9 +129,8 @@ fn main() -> ! {
                 writeln!(stdout, "ADC id: {:04X}", id).unwrap();
                 break;
             }
-            Ok(id) => {
-                // This always happens on the first attempt. So retry silently
-            }
+            Ok(id) =>
+                writeln!(stdout, "Corrupt ADC id: {:04X}", id).unwrap(),
         };
     }
     writeln!(stdout, "AD7172: setting checksum mode").unwrap();
@@ -160,9 +159,8 @@ fn main() -> ! {
     let mut pid_enabled = false;
 
     let mut hardware_addr = EthernetAddress(board::get_mac_address());
-    writeln!(stdout, "MAC address: {}", hardware_addr).unwrap();
     if hardware_addr.is_multicast() {
-        writeln!(stdout, "programmed MAC address is invalid, using default").unwrap();
+        println!("programmed MAC address is invalid, using default");
         hardware_addr = EthernetAddress([0x10, 0xE2, 0xD5, 0x00, 0x03, 0x00]);
     }
     let mut ip_addrs = [IpCidr::new(IpAddress::v4(192, 168, 1, 26), 24)];