ank/gdevcon25
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fix baud rate and enable arduino tx

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This commit is contained in:
Andy Killorin 2025-07-12 16:09:11 -05:00
parent 8e91a0d950
commit e440b2f72f
Signed by: ank
GPG key ID: 80BA307A6BD7A7E4
2 changed files with 8 additions and 5 deletions
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2
converter/src/main.rs
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@ -5,7 +5,7 @@ use postcard::to_vec_cobs;
use heapless::Vec; use heapless::Vec;
fn main() { fn main() {
let mut port = serialport::new("/dev/ttyACM0", 1152000) let mut port = serialport::new("/dev/ttyACM0", 115200)
.open().expect("port missing"); .open().expect("port missing");
println!("port open"); println!("port open");

11
robot-controller/src/main.rs
View file

@ -5,7 +5,7 @@
use core::cell::RefCell; use core::cell::RefCell;
use core::mem::MaybeUninit; use core::mem::MaybeUninit;
use arduino_hal::clock::MHz16; use arduino_hal::{clock::MHz16, hal::usart::UsartWriter};
use arduino_hal::hal::port::*; use arduino_hal::hal::port::*;
use arduino_hal::hal::usart::UsartReader; use arduino_hal::hal::usart::UsartReader;
use arduino_hal::pac::USART0; use arduino_hal::pac::USART0;
@ -43,6 +43,7 @@ fn update_shift_register(
latch_pin.set_high(); latch_pin.set_high();
} }
static mut UART_TX: MaybeUninit<UsartWriter<USART0, Pin<Input, PD0>, Pin<Output, PD1>, MHz16>> = MaybeUninit::uninit();
static mut UART_RX: MaybeUninit<UsartReader<USART0, Pin<Input, PD0>, Pin<Output, PD1>, MHz16>> = MaybeUninit::uninit(); static mut UART_RX: MaybeUninit<UsartReader<USART0, Pin<Input, PD0>, Pin<Output, PD1>, MHz16>> = MaybeUninit::uninit();
static INPUT_LINE: Mutex<RefCell<[u8; 20]>> = Mutex::new(RefCell::new([0;20])); static INPUT_LINE: Mutex<RefCell<[u8; 20]>> = Mutex::new(RefCell::new([0;20]));
@ -50,6 +51,7 @@ static INPUT_LINE: Mutex<RefCell<[u8; 20]>> = Mutex::new(RefCell::new([0;20]));
#[avr_device::interrupt(atmega328p)] #[avr_device::interrupt(atmega328p)]
unsafe fn USART_RX() { unsafe fn USART_RX() {
let rx = &mut *UART_RX.as_mut_ptr(); let rx = &mut *UART_RX.as_mut_ptr();
let tx = &mut *UART_TX.as_mut_ptr();
static mut BUF: [u8; 20] = [0;20]; static mut BUF: [u8; 20] = [0;20];
static mut N: usize = 0; // index into line static mut N: usize = 0; // index into line
@ -111,10 +113,11 @@ fn main() -> ! {
avr_device::interrupt::disable(); avr_device::interrupt::disable();
serial.listen(arduino_hal::hal::usart::Event::RxComplete); serial.listen(arduino_hal::hal::usart::Event::RxComplete);
let (rx,tx) = serial.split(); let (rx,mut tx) = serial.split();
unsafe { unsafe {
UART_RX = MaybeUninit::new(rx); UART_RX = MaybeUninit::new(rx);
UART_TX = MaybeUninit::new(tx);
avr_device::interrupt::enable(); avr_device::interrupt::enable();
}; };
@ -144,7 +147,7 @@ fn main() -> ! {
} }
fn to_pwm(val: f32) -> u8 { fn to_pwm(val: f32) -> u8 {
(val.abs() * 255.0) as u8 (val.abs().min(1.0) * 255.0) as u8
} }
// 16/255 // 16/255
@ -164,5 +167,5 @@ fn decode_command() -> Command {
let Some(length) = input.iter().position(|n| *n == 0) else { return Default::default() }; let Some(length) = input.iter().position(|n| *n == 0) else { return Default::default() };
postcard::from_bytes_cobs(&mut input[..length]).unwrap_or(Default::default()) postcard::from_bytes_cobs(&mut input[..=length]).unwrap_or(Default::default())
} }