Tested motor control

firmware/.cargo/config.toml

@@ -18,4 +18,45 @@ rb = "run --bin"
 rrb = "run --release --bin"
 
 [env]
-DEFMT_LOG = "debug"
+DEFMT_LOG = "debug"
+
+
+
+# cargo build/run
+[profile.dev]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+opt-level = 'z'         # <-
+overflow-checks = true  # <-
+
+# cargo test
+[profile.test]
+codegen-units = 1
+debug = 2
+debug-assertions = true # <-
+incremental = false
+opt-level = 3           # <-
+overflow-checks = true  # <-
+
+# cargo build/run --release
+[profile.release]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = 3            # <-
+overflow-checks = false  # <-
+
+# cargo test --release
+[profile.bench]
+codegen-units = 1
+debug = 2
+debug-assertions = false # <-
+incremental = false
+lto = 'fat'
+opt-level = 3            # <-
+overflow-checks = false  # <-
+

firmware/Cargo.toml

@@ -32,50 +32,3 @@ defmt-debug = []
 defmt-info = []
 defmt-warn = []
 defmt-error = []
-
-# cargo build/run
-[profile.dev]
-codegen-units = 1
-debug = 2
-debug-assertions = true # <-
-incremental = false
-opt-level = 'z'         # <-
-overflow-checks = true  # <-
-
-# cargo test
-[profile.test]
-codegen-units = 1
-debug = 2
-debug-assertions = true # <-
-incremental = false
-opt-level = 3           # <-
-overflow-checks = true  # <-
-
-# cargo build/run --release
-[profile.release]
-codegen-units = 1
-debug = 2
-debug-assertions = false # <-
-incremental = false
-lto = 'fat'
-opt-level = 3            # <-
-overflow-checks = false  # <-
-
-# cargo test --release
-[profile.bench]
-codegen-units = 1
-debug = 2
-debug-assertions = false # <-
-incremental = false
-lto = 'fat'
-opt-level = 3            # <-
-overflow-checks = false  # <-
-
-
-# uncomment this to switch from the crates.io version of defmt to its git version
-# check app-template's README for instructions
-# [patch.crates-io]
-# defmt = { git = "https://github.com/knurling-rs/defmt", rev = "use defmt version supported by probe-rs (see changelog)" }
-# defmt-rtt = { git = "https://github.com/knurling-rs/defmt", rev = "use defmt version supported by probe-rs (see changelog)" }
-# defmt-test = { git = "https://github.com/knurling-rs/defmt", rev = "use defmt version supported by probe-rs (see changelog)" }
-# panic-probe = { git = "https://github.com/knurling-rs/defmt", rev = "use defmt version supported by probe-rs (see changelog)" }

firmware/src/main.rs

@@ -13,17 +13,14 @@ fn panic() -> ! {
     cortex_m::asm::udf()
 }
 
-
 #[rtic::app(
     device = stm32f4xx_hal::pac,
     dispatchers = [SPI3]
 )]
 mod app {
 
-    
-
     use as5048a::AS5048A;
-    
+
     use stm32f4xx_hal::{
         gpio::{gpioa, gpiob, gpioc, Output, PushPull},
         i2c,
@@ -40,12 +37,13 @@ mod app {
 
     use rtic_monotonics::systick::prelude::*;
 
-    systick_monotonic!(Mono, 1000);
+    systick_monotonic!(Mono, 4000);
 
     // Shared resources go here
     #[shared]
     struct Shared {
         az_angle: i32,
+        az_compass: i32,
     }
 
     // Local resources go here
@@ -136,7 +134,7 @@ mod app {
             (sck, poci, pico),
             spi::Mode {
                 polarity: spi::Polarity::IdleLow,
-                phase: spi::Phase::CaptureOnFirstTransition,
+                phase: spi::Phase::CaptureOnSecondTransition,
             },
             8.MHz(),
             &clocks,
@@ -144,11 +142,13 @@ mod app {
 
         defmt::info!("SPI Setup done");
 
-        let az_enable = gpioa.pa12.into_push_pull_output();
+        let mut az_enable = gpioa.pa12.into_push_pull_output();
+        az_enable.set_high();
         let az_dir = gpioa.pa15.into_push_pull_output();
         let az_step = gpiob.pb3.into_push_pull_output();
 
-        let el_enable = gpiob.pb4.into_push_pull_output();
+        let mut el_enable = gpiob.pb4.into_push_pull_output();
+        el_enable.set_high();
         let el_dir = gpioa.pa8.into_push_pull_output();
         let el_step = gpioa.pa9.into_push_pull_output();
 
@@ -156,9 +156,13 @@ mod app {
 
         poll_i2c::spawn().ok();
         poll_spi::spawn().ok();
+        move_az::spawn().ok();
 
         (
-            Shared { az_angle: 0 },
+            Shared {
+                az_angle: 0,
+                az_compass: 0,
+            },
             Local {
                 i2cmux,
                 board_led,
@@ -179,8 +183,8 @@ mod app {
         )
     }
 
-    #[task(local = [i2cmux, board_led])]
+    #[task(local = [i2cmux, board_led], shared = [az_compass])]
-    async fn poll_i2c(cx: poll_i2c::Context) {
+    async fn poll_i2c(mut cx: poll_i2c::Context) {
         let i2cmux = cx.local.i2cmux;
         let board_led = cx.local.board_led;
 
@@ -212,6 +216,11 @@ mod app {
                             heading -= 2.0 * f32::PI();
                         }
                         let heading_degrees = heading * 180.0 / f32::PI();
+
+                        cx.shared.az_compass.lock(|az_compass| {
+                            *az_compass = heading_degrees as i32 * 10;
+                        });
+
                         defmt::info!("Heading1 {}", heading_degrees);
                         break;
                     }
@@ -276,32 +285,34 @@ mod app {
         }
     }
 
-    #[task(local = [az_enable, az_dir, az_step], shared = [az_angle])]
+    #[task(local = [az_enable, az_dir, az_step], shared = [az_angle, az_compass])]
     async fn move_az(mut cx: move_az::Context) {
         let az_enable = cx.local.az_enable;
         let az_dir = cx.local.az_dir;
         let az_step = cx.local.az_step;
 
-        let az_target = 42i32;
-
         loop {
+            let az_target = cx.shared.az_compass.lock(|az_compass| *az_compass);
+
             let az_angle = cx.shared.az_angle.lock(|az_angle| *az_angle);
             let diff = az_angle - az_target;
-            if diff.abs() > 2 {
-                az_enable.set_high();
 
+            defmt::info!("angle diff: {:?}", diff);
+
+            if diff.abs() > 5 {
+                az_enable.set_low();
                 if diff > 0 {
                     az_dir.set_high();
                 } else {
                     az_dir.set_low();
                 }
 
-                az_step.set_high();
-                Mono::delay(250.micros()).await;
                 az_step.set_low();
                 Mono::delay(250.micros()).await;
+                az_step.set_high();
+                Mono::delay(250.micros()).await;
             } else {
-                az_enable.set_low();
+                az_enable.set_high();
                 Mono::delay(500.micros()).await;
             }
         }