ank/cruisecontrol
1
Fork 0
Code Issues Activity

distance sensor

Browse source
This commit is contained in:
Andy Killorin 2025-01-07 20:48:50 -05:00
parent c39fd0727c
commit c21b033c48
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
3 changed files with 31 additions and 6 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

11
controller/Cargo.lock generated
View file

@ -318,6 +318,7 @@ dependencies = [
"st7789",
"static_cell",
"usbd-hid",
"vl53l0x",
]
[[package]]
@ -2397,6 +2398,16 @@ version = "0.9.5"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "0b928f33d975fc6ad9f86c8f283853ad26bdd5b10b7f1542aa2fa15e2289105a"
[[package]]
name = "vl53l0x"
version = "1.0.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "e943add0e260b9f7030223a74bf30d8bb020747a4a3472c281bab1562046f078"
dependencies = [
"embedded-hal 1.0.0",
"nb 0.1.3",
]
[[package]]
name = "void"
version = "1.0.2"

1
controller/Cargo.toml
View file

@ -60,6 +60,7 @@ embedded-sdmmc = "0.7.0"
bt-hci = { version = "0.1.0", default-features = false, features = ["defmt"] }
hex = { version = "0.4.3", default-features=false }
mpu6050 = { git = "https://git.ank.dev/ank/mpu6050" }
vl53l0x = "1.0.1"
[profile.release]

25
controller/src/main.rs
View file

@ -8,6 +8,7 @@
mod vl53l0;
use core::array;
use core::borrow::BorrowMut;
use core::fmt::Formatter;
use core::panic::PanicInfo;
use core::str::from_utf8;
@ -40,6 +41,7 @@ use vl53l0::RegAddr::*;
bind_interrupts!(struct Irqs {
PIO0_IRQ_0 => InterruptHandler<PIO0>;
I2C0_IRQ => embassy_rp::i2c::InterruptHandler<embassy_rp::peripherals::I2C0>;
I2C1_IRQ => embassy_rp::i2c::InterruptHandler<embassy_rp::peripherals::I2C1>;
USBCTRL_IRQ => embassy_rp::usb::InterruptHandler<USB>;
});
@ -87,10 +89,18 @@ async fn main(spawner: Spawner) {
let sda = p.PIN_20;
let scl = p.PIN_21;
let config = embassy_rp::i2c::Config::default();
let mut bus = embassy_rp::i2c::I2c::new_async(p.I2C0, scl, sda, Irqs, config);
let bus = embassy_rp::i2c::I2c::new_async(p.I2C0, scl, sda, Irqs, config);
let sda = p.PIN_26;
let scl = p.PIN_27;
let config = embassy_rp::i2c::Config::default();
let bus1 = embassy_rp::i2c::I2c::new_async(p.I2C1, scl, sda, Irqs, config);
let mut tof = vl53l0x::VL53L0x::new(bus1).unwrap();
tof.start_continuous(0).unwrap();
let mut gyro = Mpu6050::new_with_addr(bus,0x68);
let mut gyro2 = Mpu6050::new_with_addr(bus,0x69);
Timer::after_millis(1300).await;
gyro.init(&mut Delay).unwrap();
@ -101,10 +111,13 @@ async fn main(spawner: Spawner) {
Timer::after_millis(1300).await;
loop {
info!("pos: {}", gyro.get_gyro().unwrap().x);
info!("jerk: {}", gyro.get_acc().unwrap().x);
info!("temp: {}", gyro.get_temp().unwrap() * (9./5.) + 32.);
Timer::after_millis(13).await;
//info!("pos: {}", gyro.get_gyro().unwrap().x);
//info!("jerk: {}", gyro.get_acc().unwrap().x);
//info!("temp: {}", gyro.get_temp().unwrap() * (9./5.) + 32.);
if let Ok(dist) = tof.read_range_mm() {
info!("dist: {dist}mm");
}
Timer::after_millis(23).await;
}
let fw = include_bytes!("../../cyw43-firmware/43439A0.bin");