ank/cruisecontrol
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base: ank:1c04cf8346cd6a19b42977346d4a11cddb6c56e2
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ank:pico
ank:half-duplex
ank:25c-antweight-comp
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compare: ank:c39fd0727cb54c2b41619503a08b5189bd3ad591
Branches Tags
ank:pico
ank:half-duplex
ank:25c-antweight-comp

No commits in common. "1c04cf8346cd6a19b42977346d4a11cddb6c56e2" and "c39fd0727cb54c2b41619503a08b5189bd3ad591" have entirely different histories.
1c04cf8346 ... c39fd0727c

3 changed files with 6 additions and 50 deletions
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11
controller/Cargo.lock generated
View file

@ -318,7 +318,6 @@ dependencies = [
"st7789",
"static_cell",
"usbd-hid",
"vl53l0x",
]
[[package]]
@ -2398,16 +2397,6 @@ 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

@ -60,7 +60,6 @@ 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]

44
controller/src/main.rs
View file

@ -8,8 +8,6 @@
mod vl53l0;
use core::array;
use core::borrow::BorrowMut;
use core::cell::RefCell;
use core::fmt::Formatter;
use core::panic::PanicInfo;
use core::str::from_utf8;
@ -18,7 +16,6 @@ use bt_hci::cmd::info;
use cyw43_pio::PioSpi;
use embassy_rp::i2c::{Async, I2c};
use embassy_rp::pwm::{self, Pwm};
use embedded_hal_bus::i2c::RefCellDevice;
use fixed::FixedU16;
use log::*;
//use embassy_rp::i2c::InterruptHandler;
@ -43,7 +40,6 @@ 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>;
});
@ -91,31 +87,10 @@ async fn main(spawner: Spawner) {
let sda = p.PIN_20;
let scl = p.PIN_21;
let config = embassy_rp::i2c::Config::default();
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 bus1 = RefCell::new(bus1);
info!("made RefCell");
let mut tof2on = Output::new(p.PIN_16, Level::Low);
info!("2");
Timer::after_millis(1).await;
let mut tof = vl53l0x::VL53L0x::new(RefCellDevice::new(&bus1)).unwrap();
info!("3");
tof.set_address(0x32).unwrap();
info!("4");
tof2on.set_high();
Timer::after_millis(13).await;
info!("5");
let mut tof2 = vl53l0x::VL53L0x::new(RefCellDevice::new(&bus1)).unwrap();
info!("6");
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();
@ -126,17 +101,10 @@ 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.);
if let Ok(dist) = tof.read_range_single_millimeters_blocking() {
info!("dist1: {dist}mm");
}
Timer::after_millis(3).await;
if let Ok(dist) = tof2.read_range_single_millimeters_blocking() {
info!("dist2: {dist}mm");
}
Timer::after_millis(23).await;
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");