Rework driver to avoid taking ownership of spi peripheral.

Cargo.toml

@@ -8,8 +8,9 @@ members = ["boards/*", "examples/*", "crates/*"]
 default-members = ["boards/*", "examples/*"]
 
 [workspace.dependencies.stm32h7xx-hal]
-git = "https://github.com/uorocketry/stm32h7xx-hal"
+# git = "https://github.com/uorocketry/stm32h7xx-hal"
 # We use 35 even though we have the 33. 
+path = "/home/bonjour/Rocketry/stm32h7xx-hal"
 features = ["defmt", "rt", "stm32h735", "can", "rtc"]
 
 [workspace.dependencies.serde]

boards/temperature/Cargo.toml

@@ -22,6 +22,7 @@ defmt-rtt = { workspace = true }
 panic-probe = { workspace = true }
 chrono = { workspace = true }
 messages = {workspace = true}
+ads126x = {path = "../../crates/ads126x"}
 
 [dev-dependencies]
 defmt-test = { workspace = true }

boards/temperature/src/adc_manager.rs

@@ -0,0 +1,80 @@
+use ads126x::{
+    register::{DataRate, Mode1Register, Mode2Register},
+    ADCCommand, Ads126x,
+};
+
+use common_arm::spawn;
+use stm32h7xx_hal::{
+    gpio::{Output, Pin, PushPull},
+    spi::Spi,
+};
+
+use crate::app::delay;
+
+pub struct AdcManager {
+    pub spi: Spi<stm32h7xx_hal::pac::SPI1, stm32h7xx_hal::spi::Enabled, u8>,
+    pub adc1: Ads126x<Pin<'A', 0, Output<PushPull>>>,
+    pub adc2: Ads126x<Pin<'A', 1, Output<PushPull>>>,
+    pub adc1_cs: Pin<'A', 4, Output<PushPull>>,
+    pub adc2_cs: Pin<'A', 5, Output<PushPull>>,
+}
+
+impl AdcManager {
+    pub fn new(
+        spi: Spi<stm32h7xx_hal::pac::SPI1, stm32h7xx_hal::spi::Enabled, u8>,
+        adc1_pin: Pin<'A', 0, Output<PushPull>>,
+        adc2_pin: Pin<'A', 1, Output<PushPull>>,
+        adc1_cs: Pin<'A', 4, Output<PushPull>>,
+        adc2_cs: Pin<'A', 5, Output<PushPull>>,
+    ) -> Self {
+        Self {
+            spi,
+            adc1: Ads126x::new(adc1_pin),
+            adc2: Ads126x::new(adc2_pin),
+            adc1_cs,
+            adc2_cs,
+        }
+    }
+
+    pub fn init_adc1(&mut self) -> Result<(), ads126x::error::ADS126xError> {
+        self.adc2_cs.set_high();
+        self.adc1_cs.set_low();
+        self.adc1.reset()?;
+
+        spawn!(delay, 1000);
+
+        let mut mode1_cfg = Mode1Register::default();
+        mode1_cfg.set_filter(ads126x::register::DigitalFilter::Sinc1);
+        self.adc1.set_mode1(&mode1_cfg, &mut self.spi)?;
+
+        let mut mode2_cfg = Mode2Register::default();
+        mode2_cfg.set_dr(DataRate::SPS1200);
+        self.adc1.set_mode2(&mode2_cfg, &mut self.spi)?;
+
+        self.adc1.send_command(ADCCommand::START1, &mut self.spi)?;
+        self.adc1.send_command(ADCCommand::START2, &mut self.spi)?;
+
+        Ok(())
+    }
+
+    pub fn init_adc2(&mut self) -> Result<(), ads126x::error::ADS126xError> {
+        self.adc1_cs.set_high();
+        self.adc2_cs.set_low();
+        self.adc2.reset()?;
+
+        spawn!(delay, 1000);
+
+        let mut mode1_cfg = Mode1Register::default();
+        mode1_cfg.set_filter(ads126x::register::DigitalFilter::Sinc1);
+        self.adc1.set_mode1(&mode1_cfg, &mut self.spi)?;
+
+        let mut mode2_cfg = Mode2Register::default();
+        mode2_cfg.set_dr(DataRate::SPS1200);
+        self.adc1.set_mode2(&mode2_cfg, &mut self.spi)?;
+
+        self.adc1.send_command(ADCCommand::START1, &mut self.spi)?;
+        self.adc1.send_command(ADCCommand::START2, &mut self.spi)?;
+
+        Ok(())
+    }
+}

boards/temperature/src/main.rs

@@ -1,6 +1,7 @@
 #![no_std]
 #![no_main]
 
+mod adc_manager;
 mod communication;
 mod data_manager;
 mod types;
@@ -380,6 +381,11 @@ mod app {
         }
     }
 
+    #[task(priority = 3)]
+    async fn delay(_cx: delay::Context, delay: u32) {
+        Mono::delay(delay.millis()).await;
+    }
+
     #[task(shared = [data_manager, &em, rtc])]
     async fn state_send(mut cx: state_send::Context) {
         let state_data = cx