ank/cruisecontrol
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gyro

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This commit is contained in:
Andy Killorin 2025-01-05 18:17:36 -05:00
parent 06b955875c
commit c39fd0727c
Signed by: ank
GPG key ID: 23F9463ECB67FE8C
3 changed files with 108 additions and 7 deletions
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82
controller/Cargo.lock generated
View file

@ -1,6 +1,6 @@
# This file is automatically @generated by Cargo.
# It is not intended for manual editing.
version = 3
version = 4
[[package]]
name = "aead"
@ -58,6 +58,15 @@ dependencies = [
"memchr",
]
[[package]]
name = "approx"
version = "0.5.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "cab112f0a86d568ea0e627cc1d6be74a1e9cd55214684db5561995f6dad897c6"
dependencies = [
"num-traits",
]
[[package]]
name = "arrayvec"
version = "0.7.6"
@ -296,6 +305,7 @@ dependencies = [
"heapless 0.8.0",
"hex",
"log",
"mpu6050",
"panic-probe",
"pio",
"pio-proc",
@ -1458,6 +1468,12 @@ version = "0.2.158"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "d8adc4bb1803a324070e64a98ae98f38934d91957a99cfb3a43dcbc01bc56439"
[[package]]
name = "libm"
version = "0.2.11"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "8355be11b20d696c8f18f6cc018c4e372165b1fa8126cef092399c9951984ffa"
[[package]]
name = "libredox"
version = "0.1.3"
@ -1508,6 +1524,30 @@ version = "1.1.1"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "bc4010833aea396656c2f91ee704d51a6f1329ec2ab56ffd00bfd56f7481ea94"
[[package]]
name = "mpu6050"
version = "0.1.6"
source = "git+https://git.ank.dev/ank/mpu6050#32604cc16c6a604fd0a4a35bf66bd9df800da18e"
dependencies = [
"embedded-hal 1.0.0",
"libm",
"nalgebra",
]
[[package]]
name = "nalgebra"
version = "0.31.4"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "20bd243ab3dbb395b39ee730402d2e5405e448c75133ec49cc977762c4cba3d1"
dependencies = [
"approx",
"num-complex",
"num-rational",
"num-traits",
"simba",
"typenum",
]
[[package]]
name = "nb"
version = "0.1.3"
@ -1544,6 +1584,34 @@ dependencies = [
"defmt",
]
[[package]]
name = "num-complex"
version = "0.4.6"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "73f88a1307638156682bada9d7604135552957b7818057dcef22705b4d509495"
dependencies = [
"num-traits",
]
[[package]]
name = "num-integer"
version = "0.1.46"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "7969661fd2958a5cb096e56c8e1ad0444ac2bbcd0061bd28660485a44879858f"
dependencies = [
"num-traits",
]
[[package]]
name = "num-rational"
version = "0.4.2"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "f83d14da390562dca69fc84082e73e548e1ad308d24accdedd2720017cb37824"
dependencies = [
"num-integer",
"num-traits",
]
[[package]]
name = "num-traits"
version = "0.2.19"
@ -2038,6 +2106,18 @@ version = "0.1.0"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "5f179d4e11094a893b82fff208f74d448a7512f99f5a0acbd5c679b705f83ed9"
[[package]]
name = "simba"
version = "0.7.3"
source = "registry+https://github.com/rust-lang/crates.io-index"
checksum = "2f3fd720c48c53cace224ae62bef1bbff363a70c68c4802a78b5cc6159618176"
dependencies = [
"approx",
"num-complex",
"num-traits",
"paste",
]
[[package]]
name = "siphasher"
version = "0.3.11"

2
controller/Cargo.toml
View file

@ -59,6 +59,8 @@ 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" }
[profile.release]
debug = 2

29
controller/src/main.rs
View file

@ -28,8 +28,9 @@ use embassy_rp::gpio::{Level, Output};
use embassy_rp::peripherals::{DMA_CH0, PIO0, USB};
use embassy_rp::pio::{InterruptHandler, Pio};
use embassy_rp::usb::Driver;
use embassy_time::{Duration, Timer};
use embassy_time::{Delay, Duration, Timer};
use embedded_io_async::Write;
use mpu6050::Mpu6050;
use rand::RngCore;
use reqwless::response;
use static_cell::StaticCell;
@ -38,7 +39,7 @@ use vl53l0::RegAddr::*;
bind_interrupts!(struct Irqs {
PIO0_IRQ_0 => InterruptHandler<PIO0>;
I2C1_IRQ => embassy_rp::i2c::InterruptHandler<embassy_rp::peripherals::I2C1>;
I2C0_IRQ => embassy_rp::i2c::InterruptHandler<embassy_rp::peripherals::I2C0>;
USBCTRL_IRQ => embassy_rp::usb::InterruptHandler<USB>;
});
@ -83,10 +84,28 @@ async fn main(spawner: Spawner) {
let mut pwm = Pwm::new_output_ab(p.PWM_SLICE1, p.PIN_18, p.PIN_19, c.clone());
flipper.set_high();
let sda = p.PIN_26;
let scl = p.PIN_27;
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.I2C1, scl, sda, Irqs, config);
let mut bus = embassy_rp::i2c::I2c::new_async(p.I2C0, scl, sda, Irqs, config);
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();
gyro.set_gyro_range(mpu6050::device::GyroRange::D2000).unwrap();
gyro.set_accel_range(mpu6050::device::AccelRange::G16).unwrap();
info!("pinidtd");
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;
}
let fw = include_bytes!("../../cyw43-firmware/43439A0.bin");
let clm = include_bytes!("../../cyw43-firmware/43439A0_clm.bin");