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Fixed hardfault due to broken memory layout

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Sebastian 2024-12-03 17:50:35 +01:00
parent 57fdf05f00
commit f7483fe42a
3 changed files with 39 additions and 37 deletions
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39
firmware/src/main.rs
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@ -71,7 +71,7 @@ mod app {
spi_cs3: gpiob::PB15<Output<PushPull>>,
spi1: spi::Spi<SPI1>,
az_enable: gpioa::PA10<Output<PushPull>>,
az_enable: gpiob::PB8<Output<PushPull>>,
az_dir: gpioa::PA15<Output<PushPull>>,
az_step: gpiob::PB3<Output<PushPull>>,
@ -208,7 +208,7 @@ mod app {
defmt::info!("SPI Setup done");
let mut az_enable = gpioa.pa10.into_push_pull_output();
let mut az_enable = gpiob.pb8.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();
@ -351,7 +351,7 @@ mod app {
defmt::info!("angle: {:?}", angle_deg);
Mono::delay(50.millis()).await;
Mono::delay(1.millis()).await;
}
}
@ -361,30 +361,51 @@ mod app {
let az_dir = cx.local.az_dir;
let az_step = cx.local.az_step;
let mut counter = 0;
let mut az_target = 0;
loop {
let az_target = cx.shared.az_compass.lock(|az_compass| *az_compass);
//let az_target = 1800; //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;
defmt::info!("angle diff: {:?}", diff);
defmt::info!(
"angle diff/target/actual: {:?}/{:?}/{:?}",
diff,
az_target,
az_angle
);
let delay = if diff.abs() < 10 {
10.millis()
} else if diff < 100 {
5.millis()
} else {
1.millis()
};
if diff.abs() > 5 {
az_enable.set_low();
if diff > 0 {
if diff < 0 {
az_dir.set_high();
} else {
az_dir.set_low();
}
az_step.set_low();
Mono::delay(250.micros()).await;
Mono::delay(delay / 2).await;
az_step.set_high();
Mono::delay(250.micros()).await;
Mono::delay(delay / 2).await;
} else {
az_enable.set_high();
Mono::delay(500.micros()).await;
Mono::delay(delay).await;
}
counter = (counter + 1) % 1000;
if counter == 0 {
az_target = (az_target + 450) % 3600;
};
}
}