guangzong/cur_stim
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udpate imu

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This commit is contained in:
guangzong 2024-04-02 22:26:39 -04:00
parent 687f44d8ba
commit 87d713d37d
Signed by: guangzong
GPG Key ID: 095389BACAE97D19
3 changed files with 38 additions and 24 deletions
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4
Cargo.lock generated
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@ -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",

26
Cargo.toml
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@ -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

32
src/main.rs
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@ -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;