From 87d713d37d64256c040967e66352077678277e2a Mon Sep 17 00:00:00 2001
From: Guangzong Chen <chen@ggeta.com>
Date: Tue, 2 Apr 2024 22:26:39 -0400
Subject: [PATCH] udpate imu

---
 Cargo.lock  |  4 +---
 Cargo.toml  | 26 +++++---------------------
 src/main.rs | 32 ++++++++++++++++++++++++++++++++
 3 files changed, 38 insertions(+), 24 deletions(-)

diff --git a/Cargo.lock b/Cargo.lock
index 4cfa37e..2d235cb 100644
--- a/Cargo.lock
+++ b/Cargo.lock
@@ -581,7 +581,7 @@ dependencies = [
 [[package]]
 name = "u5-lib"
 version = "0.1.0"
-source = "git+ssh://gitea@git.ggeta.com:2002/guangzong/u5_new.git?branch=dev#bc8db5f8e5b3119434beec539902ad507bfb61b6"
+source = "git+ssh://gitea@git.ggeta.com:2002/guangzong/u5_new.git?branch=dev#985cbf34c6d9e1fb75cf015f0bcdf8b693fd8b2d"
 dependencies = [
  "cortex-m",
  "cortex-m-rt",
@@ -606,9 +606,7 @@ version = "0.1.0"
 dependencies = [
  "cortex-m",
  "cortex-m-rt",
- "critical-section",
  "defmt",
- "defmt-itm",
  "defmt-rtt",
  "eb_cmds",
  "embassy-executor",
diff --git a/Cargo.toml b/Cargo.toml
index accbd80..f908124 100644
--- a/Cargo.toml
+++ b/Cargo.toml
@@ -14,24 +14,15 @@ git-fetch-with-cli = true
 
 [dependencies]
 # cortex-m = "0.7.0"
-cortex-m = { version = "0.7.7", features = [
-    "inline-asm",
-    "critical-section-single-core",
-]} 
-u5-lib = { git = "ssh://gitea@git.ggeta.com:2002/guangzong/u5_new.git",features = [
-    "stm32u5a5qj",
-#   "memory-x",
-    # "stm32u575zi"
-    ], default-features = false, branch = "dev" }
+cortex-m = { version = "0.7.7"}
+u5-lib = { git = "ssh://gitea@git.ggeta.com:2002/guangzong/u5_new.git",features = [ "stm32u5a5qj"], default-features = false, branch = "dev" }
 eb_cmds = { git = "ssh://gitea@git.ggeta.com:2002/guangzong/eb_cmds.git"}
-critical-section = "1.1.2"
+#critical-section = "1.1.2"
 
 defmt = "0.3.6"
 defmt-rtt = { version = "0.4.0" }
-defmt-itm = { version = "0.3.0" }
-futures = { version = "0.3.17", default-features = false, fetures = [
-    "async-await",
-]}
+#defmt-itm = { version = "0.3.0" }
+futures = { version = "0.3.17", default-features = false, fetures = [ "async-await", ]}
 cortex-m-rt = { version = "0.7.3" }
 
 
@@ -49,13 +40,6 @@ git = "https://github.com/embassy-rs/embassy"
 rev = "35f284e"
 
 
-
-
-
-# [dependencies.stm32-metapac]
-# path = "../stm32-data/build/stm32-metapac"
-# features = [ "memory-x", "rt"] 
-
 # disable all optimizations
 [profile.dev]
 opt-level = 1
diff --git a/src/main.rs b/src/main.rs
index e4e72a6..32eb02b 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -66,6 +66,37 @@ fn setup_camera() -> (gpio::GpioPort, i2c::I2c) {
     (cam_down, i2c)
 }
 
+                // pub const $name: GpioPort = GpioPort {
+                //     port: $port,
+                //     pin: $pin,
+                //     alt_func: 0,
+                //     mode: Moder::OUTPUT,
+                //     ot: Ot::PUSHPULL,
+                //     pupd: Pupdr::FLOATING,
+                // };
+fn setup_imu(i2c: &mut i2c::I2c) {
+    // pa3 to ground
+    let mut pa3 = gpio::PA3;
+    pa3.setup();
+    pa3.set_low();
+    delay_ms(100);
+    defmt::info!("start setup imu");
+    // icm-20948
+    let addr = 0x68 << 1;
+    // read who am i
+    let mut buf = [0u8; 1];
+    let option = i2c::I2cMessage {
+        addr,
+        data: &mut buf,
+    };
+    i2c.write_read(addr, &mut [0u8], &mut buf).unwrap();
+    // i2c.receive(option).unwrap();
+    // i2c.receive(addr, 0x00, &mut buf).unwrap();
+    defmt::info!("imu who am i: {:?}", buf[0]);
+
+}
+
+
 fn setup_led() -> gpio::GpioPort {
     let green: gpio::GpioPort = gpio::PD15;
     green.setup();
@@ -119,6 +150,7 @@ async fn async_main(spawner: Spawner) {
             let dcmi = set_dcmi();
             (cam_down, i2c, sd, dcmi)
         });
+    setup_imu(&mut i2c);
 
     defmt::info!("usb init finished!");
     let mut power_on = false;