examples: rp-pico: Showcase remote I/O instead of encoder

Make the example more general purpose by showcasing communication with a
remote I/O station instead of an encoder.

examples/rp-pico/src/main.rs

@@ -14,12 +14,12 @@ mod logger;
 mod panic_handler;
 mod time;
 
-// Encoder Parameters
-const ENCODER_ADDRESS: u8 = 6;
+// I/O Parameters
+const IO_ADDRESS: u8 = 13;
 
 // Bus Parameters
 const MASTER_ADDRESS: u8 = 2;
-const BAUDRATE: Baudrate = Baudrate::B19200;
+const BAUDRATE: Baudrate = Baudrate::B500000;
 
 #[bsp::entry]
 fn main() -> ! {
@@ -105,53 +105,63 @@ fn main() -> ! {
     let mut storage: [dp::PeripheralStorage; 2] = Default::default();
     let mut dp_master = dp::DpMaster::new(&mut storage[..]);
 
-    // Options generated by `gsdtool` using "FRAB4711.gsd"
+    // Options generated by `gsdtool` using "et200b-8di8do.gsd"
     let options = profirust::dp::PeripheralOptions {
-        // "FRABA Encoder" by "FRABA"
-        ident_number: 0x4711,
+        // "B-8DI/8DO      DP             " by "SIEMENS                       "
+        ident_number: 0x000b,
 
         // Global Parameters:
         //   (none)
         //
         // Selected Modules:
-        //   [0] Class 1 Singleturn
-        //       - Code sequence: Increasing clockwise (0)
-        user_parameters: Some(&[0x00, 0x00]),
-        config: Some(&[0xd0]),
+        //   [1] 1 Byte Out, 1 Byte In
+        user_parameters: Some(&[0x00, 0x00, 0x00, 0x00, 0x00]),
+        config: Some(&[0x20, 0x10]),
 
         // Set max_tsdr depending on baudrate and assert
         // that a supported baudrate is used.
         max_tsdr: match BAUDRATE {
             profirust::Baudrate::B9600 => 60,
             profirust::Baudrate::B19200 => 60,
+            profirust::Baudrate::B45450 => 250,
             profirust::Baudrate::B93750 => 60,
             profirust::Baudrate::B187500 => 60,
             profirust::Baudrate::B500000 => 100,
-            b => panic!("Peripheral \"FRABA Encoder\" does not support baudrate {b:?}!"),
+            profirust::Baudrate::B1500000 => 150,
+            profirust::Baudrate::B3000000 => 250,
+            profirust::Baudrate::B6000000 => 450,
+            profirust::Baudrate::B12000000 => 800,
+            b => panic!(
+                "Peripheral \"B-8DI/8DO      DP             \" does not support baudrate {b:?}!"
+            ),
         },
 
         fail_safe: false,
         ..Default::default()
     };
-    let mut buffer_inputs = [0u8; 2];
-    let mut buffer_outputs = [0u8; 0];
-    let encoder_handle = dp_master.add(dp::Peripheral::new(
-        ENCODER_ADDRESS,
-        options,
-        &mut buffer_inputs[..],
-        &mut buffer_outputs[..],
-    ));
+    let mut buffer_inputs = [0u8; 1];
+    let mut buffer_outputs = [0u8; 1];
+    let mut buffer_diagnostics = [0u8; 13];
+    let io_handle = dp_master.add(
+        dp::Peripheral::new(
+            IO_ADDRESS,
+            options,
+            &mut buffer_inputs[..],
+            &mut buffer_outputs[..],
+        )
+        .with_diag_buffer(&mut buffer_diagnostics[..]),
+    );
 
     let mut fdl_master = fdl::FdlActiveStation::new(
         fdl::ParametersBuilder::new(MASTER_ADDRESS, BAUDRATE)
             .watchdog_timeout(profirust::time::Duration::from_secs(1))
-            .slot_bits(1920)
+            .slot_bits(4000)
+            .max_retry_limit(3)
             .build_verified(&dp_master),
     );
 
     let mut init = false;
     let mut last = profirust::time::Instant::ZERO;
-    let mut last_value = None;
     loop {
         let now = time::now().unwrap();
 
@@ -164,14 +174,14 @@ fn main() -> ! {
 
         let events = dp_master.take_last_events();
 
-        let encoder = dp_master.get_mut(encoder_handle);
-        if events.cycle_completed && encoder.is_running() {
-            last_value = Some(u16::from_be_bytes(encoder.pi_i().try_into().unwrap()));
+        let io_station = dp_master.get_mut(io_handle);
+        if events.cycle_completed && io_station.is_running() {
+            io_station.pi_q_mut()[0] = if now.secs() % 2 == 0 { 0x55 } else { 0xAA };
         }
 
         if last.secs() != now.secs() {
-            if encoder.is_running() {
-                log::info!("Encoder Counts: {:5}", last_value.unwrap());
+            if io_station.is_running() {
+                log::info!("Inputs: {:08b}", io_station.pi_i()[0]);
             }
             let _ = led_pin.toggle();
         }