| 1 | use defmt::trace; |
| 2 | use embassy_stm32::{ |
| 3 | exti::ExtiInput, |
| 4 | i2c::{I2c, Master}, |
| 5 | mode::Async, |
| 6 | usart::Uart, |
| 7 | }; |
| 8 | use embassy_sync::{ |
| 9 | blocking_mutex::raw::ThreadModeRawMutex, |
| 10 | channel::{Receiver, Sender}, |
| 11 | }; |
| 12 | use embassy_time::{Delay, Instant}; |
| 13 | use mpu6050_dmp::{ |
| 14 | calibration::CalibrationParameters, quaternion::Quaternion, sensor_async::Mpu6050, |
| 15 | yaw_pitch_roll::YawPitchRoll, |
| 16 | }; |
| 17 | |
| 18 | pub const BUFFERED_QUATERNIONS: usize = 5; |
| 19 | |
| 20 | #[embassy_executor::task] |
| 21 | pub async fn telemetry_sender( |
| 22 | mut telemetry_port: Uart<'static, Async>, |
| 23 | channel: Receiver<'static, ThreadModeRawMutex, Quaternion, BUFFERED_QUATERNIONS>, |
| 24 | ) { |
| 25 | let mut previous: Instant = Instant::now(); |
| 26 | let mut now: Instant; |
| 27 | |
| 28 | loop { |
| 29 | // await until we receive a new quaternion packet from the sync channel |
| 30 | let next_quaternion_value = channel.receive().await.normalize(); |
| 31 | // let ypr_format = YawPitchRoll::from(next_quaternion_value); |
| 32 | |
| 33 | now = Instant::now(); |
| 34 | let elapsed = now - previous; |
| 35 | defmt::info!("Time elapsed since last data: {} ms", elapsed.as_millis()); |
| 36 | previous = now; |
| 37 | |
| 38 | let w = &next_quaternion_value.w; |
| 39 | let x = &next_quaternion_value.x; |
| 40 | let y = &next_quaternion_value.y; |
| 41 | let z = &next_quaternion_value.z; |
| 42 | |
| 43 | let _send_result_w = telemetry_port.write(&w.to_le_bytes()).await; |
| 44 | let _send_result_x = telemetry_port.write(&x.to_le_bytes()).await; |
| 45 | let _send_result_y = telemetry_port.write(&y.to_le_bytes()).await; |
| 46 | let _send_result_z = telemetry_port.write(&z.to_le_bytes()).await; |
| 47 | |
| 48 | telemetry_port.flush().await.unwrap(); |
| 49 | defmt::info! {"Data: {} {} {} {}", w, x, y, z}; |
| 50 | } |
| 51 | } |
| 52 | |
| 53 | #[embassy_executor::task] |
| 54 | pub async fn read_mpu( |
| 55 | iic: I2c<'static, Async, Master>, |
| 56 | mut ext: ExtiInput<'static>, |
| 57 | channel: Sender<'static, ThreadModeRawMutex, Quaternion, BUFFERED_QUATERNIONS>, |
| 58 | ) { |
| 59 | trace! {"Entering MPU thread"}; |
| 60 | let mut mpu = Mpu6050::new(iic, mpu6050_dmp::address::Address::default()) |
| 61 | .await |
| 62 | .unwrap(); |
| 63 | // initialize the DMP processor for the MPU |
| 64 | mpu.initialize_dmp(&mut Delay).await.unwrap(); |
| 65 | |
| 66 | // Configure calibration parameters |
| 67 | // let calibration_params = CalibrationParameters::new( |
| 68 | // mpu6050_dmp::accel::AccelFullScale::G2, |
| 69 | // mpu6050_dmp::gyro::GyroFullScale::Deg2000, |
| 70 | // mpu6050_dmp::calibration::ReferenceGravity::ZN, |
| 71 | // ); |
| 72 | // trace!("Calibrating Sensor"); |
| 73 | // mpu |
| 74 | // .calibrate(&mut Delay, &calibration_params) |
| 75 | // .await |
| 76 | // .unwrap(); |
| 77 | // trace!("Sensor Calibrated"); |
| 78 | mpu.set_clock_source(mpu6050_dmp::clock_source::ClockSource::Xgyro).await.unwrap(); |
| 79 | mpu.enable_dmp().await.unwrap(); |
| 80 | mpu.load_firmware().await.unwrap(); |
| 81 | mpu.boot_firmware().await.unwrap(); |
| 82 | mpu.set_sample_rate_divider(4).await.unwrap(); |
| 83 | mpu.set_digital_lowpass_filter(mpu6050_dmp::config::DigitalLowPassFilter::Filter0) |
| 84 | .await |
| 85 | .unwrap(); |
| 86 | |
| 87 | let mut fifo: [u8; 28] = [0; 28]; |
| 88 | |
| 89 | // set up the interrupt so we receive data from the internal mpu6050 dmp, |
| 90 | // combining gyro and accel |
| 91 | mpu.enable_fifo().await.unwrap(); |
| 92 | trace! {"Enabling FIFO interrupt"}; |
| 93 | mpu.interrupt_fifo_oflow_en().await.unwrap(); |
| 94 | |
| 95 | loop { |
| 96 | // block until we get an interrupt from the MPU line |
| 97 | ext.wait_for_rising_edge().await; |
| 98 | // read the combined data from the MPU fifo. It sends 28 byte packets, of which the first |
| 99 | // 16 are the quaternion data. |
| 100 | mpu.read_fifo(&mut fifo).await.unwrap(); |
| 101 | // obtain the first 16 quaternion packets |
| 102 | let quaternion_packet = Quaternion::from_bytes(&fifo[..16]).unwrap().normalize(); |
| 103 | // send quaternion value to sync channel |
| 104 | channel.send(quaternion_packet).await; |
| 105 | |
| 106 | // clear the pending interrupt and wait for the next |
| 107 | mpu.reset_fifo().await.unwrap(); |
| 108 | mpu.interrupt_read_clear().await.unwrap(); |
| 109 | } |
| 110 | } |
| 111 | |
