ank/cruisecontrol
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copy pwm config from door winch

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This commit is contained in:
Andy Killorin 2025-01-18 13:45:49 -05:00
parent 3b829b1b59
commit 736584f5d6
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
2 changed files with 9 additions and 102 deletions
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20
controller/src/main.rs
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@ -87,11 +87,11 @@ async fn main(spawner: Spawner) {
let mut flipper = Output::new(p.PIN_22, Level::Low);
let mut c: pwm::Config = Default::default();
c.divider = 255.into();
c.top = 8715;
c.compare_b = 7210;
c.compare_a = 2240;
let mut pwm = Pwm::new_output_ab(p.PWM_SLICE1, p.PIN_18, p.PIN_19, c.clone());
c.divider = 40.into();
c.top = 62500; // 20ms
c.compare_b = 4687; // 1.5ms
c.compare_a = 4687; // 1.5ms
let mut drive_pwm = Pwm::new_output_ab(p.PWM_SLICE1, p.PIN_18, p.PIN_19, c.clone());
flipper.set_high();
let sda = p.PIN_20;
@ -169,10 +169,8 @@ async fn main(spawner: Spawner) {
defmt::unwrap!(spawner.spawn(net_task(runner)));
//control.start_ap_open("cyw43", 5).await;
control.start_ap_wpa2("lovesense_setup2", "password123", 5).await;
// And now we can use it!
// password is not terribly private information
control.start_ap_wpa2("cruisecontrol", "dxSk2avMFvsY", 5).await;
let mut rx_buffer = [0; 4096];
let mut tx_buffer = [0; 4096];
@ -187,7 +185,7 @@ async fn main(spawner: Spawner) {
c.top = 8715;
c.compare_b = 0;
c.compare_a = 0;
pwm.set_config(&c);
drive_pwm.set_config(&c);
flipper.set_low();
@ -231,7 +229,7 @@ async fn main(spawner: Spawner) {
let right = u16::from_be_bytes(right);
c.compare_b = right;
info!("left {:?}, right {left:?}", right);
pwm.set_config(&c);
drive_pwm.set_config(&c);
},
'F' => {
flipper.set_high();

91
controller/src/vl53l0.rs
View file

@ -1,91 +0,0 @@
use core::ops::Deref;
#[repr(u8)]
pub enum RegAddr
{
SYSRANGE_START = 0x00,
SYSTEM_THRESH_HIGH = 0x0C,
SYSTEM_THRESH_LOW = 0x0E,
SYSTEM_SEQUENCE_CONFIG = 0x01,
SYSTEM_RANGE_CONFIG = 0x09,
SYSTEM_INTERMEASUREMENT_PERIOD = 0x04,
SYSTEM_INTERRUPT_CONFIG_GPIO = 0x0A,
GPIO_HV_MUX_ACTIVE_HIGH = 0x84,
SYSTEM_INTERRUPT_CLEAR = 0x0B,
RESULT_INTERRUPT_STATUS = 0x13,
RESULT_RANGE_STATUS = 0x14,
RESULT_CORE_AMBIENT_WINDOW_EVENTS_RTN = 0xBC,
//RESULT_CORE_RANGING_TOTAL_EVENTS_RTN = 0xC0,
RESULT_CORE_AMBIENT_WINDOW_EVENTS_REF = 0xD0,
RESULT_CORE_RANGING_TOTAL_EVENTS_REF = 0xD4,
RESULT_PEAK_SIGNAL_RATE_REF = 0xB6,
ALGO_PART_TO_PART_RANGE_OFFSET_MM = 0x28,
I2C_SLAVE_DEVICE_ADDRESS = 0x8A,
MSRC_CONFIG_CONTROL = 0x60,
PRE_RANGE_CONFIG_MIN_SNR = 0x27,
PRE_RANGE_CONFIG_VALID_PHASE_LOW = 0x56,
PRE_RANGE_CONFIG_VALID_PHASE_HIGH = 0x57,
PRE_RANGE_MIN_COUNT_RATE_RTN_LIMIT = 0x64,
FINAL_RANGE_CONFIG_MIN_SNR = 0x67,
FINAL_RANGE_CONFIG_VALID_PHASE_LOW = 0x47,
FINAL_RANGE_CONFIG_VALID_PHASE_HIGH = 0x48,
FINAL_RANGE_CONFIG_MIN_COUNT_RATE_RTN_LIMIT = 0x44,
PRE_RANGE_CONFIG_SIGMA_THRESH_HI = 0x61,
PRE_RANGE_CONFIG_SIGMA_THRESH_LO = 0x62,
PRE_RANGE_CONFIG_VCSEL_PERIOD = 0x50,
PRE_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x51,
PRE_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x52,
SYSTEM_HISTOGRAM_BIN = 0x81,
HISTOGRAM_CONFIG_INITIAL_PHASE_SELECT = 0x33,
HISTOGRAM_CONFIG_READOUT_CTRL = 0x55,
FINAL_RANGE_CONFIG_VCSEL_PERIOD = 0x70,
FINAL_RANGE_CONFIG_TIMEOUT_MACROP_HI = 0x71,
FINAL_RANGE_CONFIG_TIMEOUT_MACROP_LO = 0x72,
CROSSTALK_COMPENSATION_PEAK_RATE_MCPS = 0x20,
MSRC_CONFIG_TIMEOUT_MACROP = 0x46,
SOFT_RESET_GO2_SOFT_RESET_N = 0xBF,
IDENTIFICATION_MODEL_ID = 0xC0,
IDENTIFICATION_REVISION_ID = 0xC2,
OSC_CALIBRATE_VAL = 0xF8,
GLOBAL_CONFIG_VCSEL_WIDTH = 0x32,
GLOBAL_CONFIG_SPAD_ENABLES_REF_0 = 0xB0,
GLOBAL_CONFIG_SPAD_ENABLES_REF_1 = 0xB1,
GLOBAL_CONFIG_SPAD_ENABLES_REF_2 = 0xB2,
GLOBAL_CONFIG_SPAD_ENABLES_REF_3 = 0xB3,
GLOBAL_CONFIG_SPAD_ENABLES_REF_4 = 0xB4,
GLOBAL_CONFIG_SPAD_ENABLES_REF_5 = 0xB5,
//GLOBAL_CONFIG_REF_EN_START_SELECT = 0xB6,
DYNAMIC_SPAD_NUM_REQUESTED_REF_SPAD = 0x4E,
DYNAMIC_SPAD_REF_EN_START_OFFSET = 0x4F,
POWER_MANAGEMENT_GO1_POWER_FORCE = 0x80,
VHV_CONFIG_PAD_SCL_SDA__EXTSUP_HV = 0x89,
ALGO_PHASECAL_LIM = 0x30,
//ALGO_PHASECAL_CONFIG_TIMEOUT = 0x30,
}
struct Vl53l0x {
}