it works lol
Serge Bazanski
commit
40d717e27a
|
|
@ -0,0 +1,244 @@
|
|||
# This file is automatically @generated by Cargo.
|
||||
# It is not intended for manual editing.
|
||||
[[package]]
|
||||
name = "aligned"
|
||||
version = "0.2.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
|
||||
[[package]]
|
||||
name = "bare-metal"
|
||||
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|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
dependencies = [
|
||||
"rustc_version 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "byteorder"
|
||||
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|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
|
||||
[[package]]
|
||||
name = "cast"
|
||||
version = "0.2.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
|
||||
[[package]]
|
||||
name = "controller"
|
||||
version = "0.1.0"
|
||||
dependencies = [
|
||||
"byteorder 1.3.1 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"cortex-m 0.5.8 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"cortex-m-rt 0.6.8 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"cortex-m-semihosting 0.3.2 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"nb 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"panic-halt 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"stm32f1xx-hal 0.2.1 (git+https://github.com/stm32-rs/stm32f1xx-hal?rev=9f95056273525110949923ff83c12e793eac5b5c)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m"
|
||||
version = "0.5.8"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
dependencies = [
|
||||
"aligned 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"bare-metal 0.2.4 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"volatile-register 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m-rt"
|
||||
version = "0.6.8"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
dependencies = [
|
||||
"cortex-m-rt-macros 0.1.5 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"r0 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m-rt-macros"
|
||||
version = "0.1.5"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
dependencies = [
|
||||
"proc-macro2 0.4.27 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"quote 0.6.12 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"rand 0.5.6 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"syn 0.15.31 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "cortex-m-semihosting"
|
||||
version = "0.3.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
dependencies = [
|
||||
"cortex-m 0.5.8 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "embedded-hal"
|
||||
version = "0.2.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
dependencies = [
|
||||
"nb 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"void 1.0.2 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "nb"
|
||||
version = "0.1.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
|
||||
[[package]]
|
||||
name = "panic-halt"
|
||||
version = "0.2.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
|
||||
[[package]]
|
||||
name = "proc-macro2"
|
||||
version = "0.4.27"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
dependencies = [
|
||||
"unicode-xid 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "quote"
|
||||
version = "0.6.12"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
dependencies = [
|
||||
"proc-macro2 0.4.27 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "r0"
|
||||
version = "0.2.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
|
||||
[[package]]
|
||||
name = "rand"
|
||||
version = "0.5.6"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
dependencies = [
|
||||
"rand_core 0.3.1 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rand_core"
|
||||
version = "0.3.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
dependencies = [
|
||||
"rand_core 0.4.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "rand_core"
|
||||
version = "0.4.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
|
||||
[[package]]
|
||||
name = "rustc_version"
|
||||
version = "0.2.3"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
dependencies = [
|
||||
"semver 0.9.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "semver"
|
||||
version = "0.9.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
dependencies = [
|
||||
"semver-parser 0.7.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "semver-parser"
|
||||
version = "0.7.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
|
||||
[[package]]
|
||||
name = "stm32f1"
|
||||
version = "0.6.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
dependencies = [
|
||||
"bare-metal 0.2.4 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"cortex-m 0.5.8 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"cortex-m-rt 0.6.8 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"vcell 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "stm32f1xx-hal"
|
||||
version = "0.2.1"
|
||||
source = "git+https://github.com/stm32-rs/stm32f1xx-hal?rev=9f95056273525110949923ff83c12e793eac5b5c#9f95056273525110949923ff83c12e793eac5b5c"
|
||||
dependencies = [
|
||||
"cast 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"cortex-m 0.5.8 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"cortex-m-rt 0.6.8 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"embedded-hal 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"nb 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"stm32f1 0.6.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"void 1.0.2 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "syn"
|
||||
version = "0.15.31"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
dependencies = [
|
||||
"proc-macro2 0.4.27 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"quote 0.6.12 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
"unicode-xid 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "unicode-xid"
|
||||
version = "0.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
|
||||
[[package]]
|
||||
name = "vcell"
|
||||
version = "0.1.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
|
||||
[[package]]
|
||||
name = "void"
|
||||
version = "1.0.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
|
||||
[[package]]
|
||||
name = "volatile-register"
|
||||
version = "0.2.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
dependencies = [
|
||||
"vcell 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)",
|
||||
]
|
||||
|
||||
[metadata]
|
||||
"checksum aligned 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "d39da9b88ae1a81c03c9c082b8db83f1d0e93914126041962af61034ab44c4a5"
|
||||
"checksum bare-metal 0.2.4 (registry+https://github.com/rust-lang/crates.io-index)" = "a3caf393d93b2d453e80638d0674597020cef3382ada454faacd43d1a55a735a"
|
||||
"checksum byteorder 1.3.1 (registry+https://github.com/rust-lang/crates.io-index)" = "a019b10a2a7cdeb292db131fc8113e57ea2a908f6e7894b0c3c671893b65dbeb"
|
||||
"checksum cast 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)" = "926013f2860c46252efceabb19f4a6b308197505082c609025aa6706c011d427"
|
||||
"checksum cortex-m 0.5.8 (registry+https://github.com/rust-lang/crates.io-index)" = "dab2164a0fc216781a47fc343347365112ae6917421d3fa4bac6faf0fbaaaec7"
|
||||
"checksum cortex-m-rt 0.6.8 (registry+https://github.com/rust-lang/crates.io-index)" = "7e1ccc9052352415ec4e3f762f4541098d012016f9354a1a5b2dede39b67f426"
|
||||
"checksum cortex-m-rt-macros 0.1.5 (registry+https://github.com/rust-lang/crates.io-index)" = "d7ae692573e0acccb1579fef1abf5a5bf1d2f3f0149a22b16870ec9309aee25f"
|
||||
"checksum cortex-m-semihosting 0.3.2 (registry+https://github.com/rust-lang/crates.io-index)" = "d1dc2abec1a772e8bb697cad17d5710f180043caf8939820f0f6ba4b7ae2a4b5"
|
||||
"checksum embedded-hal 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)" = "9880e55238830314d41d88f1ac7a819d495799c3cc3bc392cc172bab26428c33"
|
||||
"checksum nb 0.1.1 (registry+https://github.com/rust-lang/crates.io-index)" = "69f380b5fe9fab8c0d7a6a99cda23e2cc0463bedb2cbc3aada0813b98496ecdc"
|
||||
"checksum panic-halt 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "de96540e0ebde571dc55c73d60ef407c653844e6f9a1e2fdbd40c07b9252d812"
|
||||
"checksum proc-macro2 0.4.27 (registry+https://github.com/rust-lang/crates.io-index)" = "4d317f9caece796be1980837fd5cb3dfec5613ebdb04ad0956deea83ce168915"
|
||||
"checksum quote 0.6.12 (registry+https://github.com/rust-lang/crates.io-index)" = "faf4799c5d274f3868a4aae320a0a182cbd2baee377b378f080e16a23e9d80db"
|
||||
"checksum r0 0.2.2 (registry+https://github.com/rust-lang/crates.io-index)" = "e2a38df5b15c8d5c7e8654189744d8e396bddc18ad48041a500ce52d6948941f"
|
||||
"checksum rand 0.5.6 (registry+https://github.com/rust-lang/crates.io-index)" = "c618c47cd3ebd209790115ab837de41425723956ad3ce2e6a7f09890947cacb9"
|
||||
"checksum rand_core 0.3.1 (registry+https://github.com/rust-lang/crates.io-index)" = "7a6fdeb83b075e8266dcc8762c22776f6877a63111121f5f8c7411e5be7eed4b"
|
||||
"checksum rand_core 0.4.0 (registry+https://github.com/rust-lang/crates.io-index)" = "d0e7a549d590831370895ab7ba4ea0c1b6b011d106b5ff2da6eee112615e6dc0"
|
||||
"checksum rustc_version 0.2.3 (registry+https://github.com/rust-lang/crates.io-index)" = "138e3e0acb6c9fb258b19b67cb8abd63c00679d2851805ea151465464fe9030a"
|
||||
"checksum semver 0.9.0 (registry+https://github.com/rust-lang/crates.io-index)" = "1d7eb9ef2c18661902cc47e535f9bc51b78acd254da71d375c2f6720d9a40403"
|
||||
"checksum semver-parser 0.7.0 (registry+https://github.com/rust-lang/crates.io-index)" = "388a1df253eca08550bef6c72392cfe7c30914bf41df5269b68cbd6ff8f570a3"
|
||||
"checksum stm32f1 0.6.0 (registry+https://github.com/rust-lang/crates.io-index)" = "5c9a197094ef680c79c5018701f0c03f0dc673cbf4a0df944371d3f83c71161d"
|
||||
"checksum stm32f1xx-hal 0.2.1 (git+https://github.com/stm32-rs/stm32f1xx-hal?rev=9f95056273525110949923ff83c12e793eac5b5c)" = "<none>"
|
||||
"checksum syn 0.15.31 (registry+https://github.com/rust-lang/crates.io-index)" = "d2b4cfac95805274c6afdb12d8f770fa2d27c045953e7b630a81801953699a9a"
|
||||
"checksum unicode-xid 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "fc72304796d0818e357ead4e000d19c9c174ab23dc11093ac919054d20a6a7fc"
|
||||
"checksum vcell 0.1.0 (registry+https://github.com/rust-lang/crates.io-index)" = "45c297f0afb6928cd08ab1ff9d95e99392595ea25ae1b5ecf822ff8764e57a0d"
|
||||
"checksum void 1.0.2 (registry+https://github.com/rust-lang/crates.io-index)" = "6a02e4885ed3bc0f2de90ea6dd45ebcbb66dacffe03547fadbb0eeae2770887d"
|
||||
"checksum volatile-register 0.2.0 (registry+https://github.com/rust-lang/crates.io-index)" = "0d67cb4616d99b940db1d6bd28844ff97108b498a6ca850e5b6191a532063286"
|
||||
|
|
@ -0,0 +1,19 @@
|
|||
[package]
|
||||
name = "controller"
|
||||
version = "0.1.0"
|
||||
authors = ["Serge Bazanski <serge@bazanski.pl>"]
|
||||
edition = "2018"
|
||||
|
||||
[profile.release]
|
||||
opt-level = 's'
|
||||
lto = true
|
||||
debug = true
|
||||
|
||||
[dependencies]
|
||||
stm32f1xx-hal = {git = "https://github.com/stm32-rs/stm32f1xx-hal", rev = "9f95056273525110949923ff83c12e793eac5b5c", features = ["stm32f103", "rt"]}
|
||||
panic-halt = "0.2.0"
|
||||
nb = "0.1.1"
|
||||
cortex-m = "0.5.8"
|
||||
cortex-m-rt = "0.6.8"
|
||||
cortex-m-semihosting = "0.3.2"
|
||||
byteorder = { version = "1.3.1", default-features = false }
|
||||
|
|
@ -0,0 +1,12 @@
|
|||
with import <nixpkgs> {};
|
||||
|
||||
|
||||
stdenv.mkDerivation rec {
|
||||
name = "venv";
|
||||
env = buildEnv { name = name; paths = buildInputs; };
|
||||
buildInputs = [
|
||||
gcc-arm-embedded
|
||||
rustup
|
||||
openocd
|
||||
];
|
||||
}
|
||||
|
|
@ -0,0 +1,7 @@
|
|||
#!/bin/sh
|
||||
set -e
|
||||
|
||||
cargo build --release
|
||||
arm-none-eabi-objcopy -O binary target/thumbv7m-none-eabi/release/controller controller.bin
|
||||
sudo openocd -f interface/stlink-v2.cfg -f target/stm32f1x.cfg -c "program controller.bin 0x08000000" -c "arm semihosting enable" -c "reset run"
|
||||
|
||||
|
|
@ -0,0 +1,6 @@
|
|||
/* Linker script for the STM32F103C8T6 */
|
||||
MEMORY
|
||||
{
|
||||
FLASH : ORIGIN = 0x08000000, LENGTH = 64K
|
||||
RAM : ORIGIN = 0x20000000, LENGTH = 20K
|
||||
}
|
||||
|
|
@ -0,0 +1,171 @@
|
|||
//! Blinks an LED
|
||||
//!
|
||||
//! This assumes that a LED is connected to pc13 as is the case on the blue pill board.
|
||||
//!
|
||||
//! Note: Without additional hardware, PC13 should not be used to drive an LED, see page 5.1.2 of
|
||||
//! the reference manaual for an explanation. This is not an issue on the blue pill.
|
||||
|
||||
#![deny(unsafe_code)]
|
||||
#![deny(warnings)]
|
||||
#![no_std]
|
||||
#![no_main]
|
||||
|
||||
extern crate panic_halt;
|
||||
extern crate cortex_m_semihosting;
|
||||
|
||||
use nb::block;
|
||||
|
||||
use stm32f1xx_hal::{
|
||||
prelude::*,
|
||||
pac,
|
||||
timer::Timer,
|
||||
serial::Serial,
|
||||
};
|
||||
use cortex_m_rt::entry;
|
||||
//use cortex_m_semihosting::hprintln;
|
||||
use stm32f1xx_hal::adc;
|
||||
|
||||
extern crate byteorder;
|
||||
use byteorder::{ByteOrder, LittleEndian};
|
||||
|
||||
struct RangeConverter {
|
||||
// Input specifics
|
||||
left: u16,
|
||||
center: u16,
|
||||
right: u16,
|
||||
deadzone: u16,
|
||||
|
||||
// Output range
|
||||
min: i16,
|
||||
max: i16,
|
||||
}
|
||||
|
||||
impl RangeConverter {
|
||||
fn convert(&self, value: u16) -> i16 {
|
||||
if value <= self.left {
|
||||
return self.min
|
||||
}
|
||||
if value >= self.right {
|
||||
return self.max
|
||||
}
|
||||
|
||||
let cd: u16 = if value > self.center {
|
||||
value - self.center
|
||||
} else {
|
||||
self.center - value
|
||||
};
|
||||
|
||||
if cd <= self.deadzone {
|
||||
return 0;
|
||||
}
|
||||
|
||||
// Value outside of deadzone.
|
||||
let cv: i16 = (cd - self.deadzone) as i16;
|
||||
if value > self.center {
|
||||
let md: i32 = ((self.right - self.center) - self.deadzone) as i32;
|
||||
let val: i32 = (self.max as i32) * (cv as i32) / md;
|
||||
return val as i16;
|
||||
} else {
|
||||
let md: i32 = ((self.center - self.left) - self.deadzone) as i32;
|
||||
let val: i32 = (self.min as i32) * (cv as i32) / md;
|
||||
return val as i16;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
#[entry]
|
||||
fn main() -> ! {
|
||||
// Get access to the core peripherals from the cortex-m crate
|
||||
let cp = cortex_m::Peripherals::take().unwrap();
|
||||
// Get access to the device specific peripherals from the peripheral access crate
|
||||
let dp = pac::Peripherals::take().unwrap();
|
||||
|
||||
// Take ownership over the raw flash and rcc devices and convert them into the corresponding
|
||||
// HAL structs
|
||||
let mut flash = dp.FLASH.constrain();
|
||||
let mut rcc = dp.RCC.constrain();
|
||||
let mut afio = dp.AFIO.constrain(&mut rcc.apb2);
|
||||
|
||||
// Freeze the configuration of all the clocks in the system and store the frozen frequencies in
|
||||
// `clocks`
|
||||
let clocks = rcc.cfgr.adcclk(2.mhz()).freeze(&mut flash.acr);
|
||||
//hprintln!("adc freq: {}", clocks.adcclk().0).unwrap();
|
||||
|
||||
// Acquire the GPIOC peripheral
|
||||
let mut gpioa = dp.GPIOA.split(&mut rcc.apb2);
|
||||
let mut gpiob = dp.GPIOB.split(&mut rcc.apb2);
|
||||
let mut gpioc = dp.GPIOC.split(&mut rcc.apb2);
|
||||
|
||||
// Configure gpio C pin 13 as a push-pull output. The `crh` register is passed to the function
|
||||
// in order to configure the port. For pins 0-7, crl should be passed instead.
|
||||
let mut led = gpioc.pc13.into_push_pull_output(&mut gpioc.crh);
|
||||
// Configure the syst timer to trigger an update every second
|
||||
let mut timer = Timer::syst(cp.SYST, 30.hz(), clocks);
|
||||
|
||||
let mut adc1 = adc::Adc::adc1(dp.ADC1, &mut rcc.apb2);
|
||||
|
||||
let mut ch0 = gpiob.pb0.into_analog(&mut gpiob.crl);
|
||||
let mut ch1 = gpiob.pb1.into_analog(&mut gpiob.crl);
|
||||
let mut ch2 = gpioa.pa0.into_analog(&mut gpioa.crl);
|
||||
|
||||
let fire = gpioc.pc14.into_pull_up_input(&mut gpioc.crh);
|
||||
let tx = gpioa.pa2.into_alternate_push_pull(&mut gpioa.crl);
|
||||
let rx = gpioa.pa3;
|
||||
let serial = Serial::usart2(
|
||||
dp.USART2,
|
||||
(tx, rx),
|
||||
&mut afio.mapr,
|
||||
19_200.bps(),
|
||||
clocks,
|
||||
&mut rcc.apb1,
|
||||
);
|
||||
let (mut tx, mut _rx) = serial.split();
|
||||
|
||||
let rcx = RangeConverter{
|
||||
left: 2064,
|
||||
center: 3026,
|
||||
right: 4096,
|
||||
deadzone: 300,
|
||||
|
||||
min: -1000,
|
||||
max: 1000,
|
||||
};
|
||||
let rcy = RangeConverter{
|
||||
left: 2250,
|
||||
center: 3000,
|
||||
right: 4096,
|
||||
deadzone: 100,
|
||||
|
||||
min: -1000,
|
||||
max: 1000,
|
||||
};
|
||||
|
||||
// Wait for the timer to trigger an update and change the state of the LED
|
||||
loop {
|
||||
block!(timer.wait()).unwrap();
|
||||
led.set_high();
|
||||
block!(timer.wait()).unwrap();
|
||||
led.set_low();
|
||||
|
||||
let data0: u16 = adc1.read(&mut ch0).unwrap();
|
||||
let data1: u16 = adc1.read(&mut ch1).unwrap();
|
||||
let _data2: u16 = adc1.read(&mut ch2).unwrap();
|
||||
|
||||
let x: i16 = -rcx.convert(data0);
|
||||
let y: i16 = rcy.convert(data1);
|
||||
|
||||
let mut bufx = [0, 0];
|
||||
let mut bufy = [0, 0];
|
||||
if fire.is_low() {
|
||||
LittleEndian::write_i16(&mut bufx, x);
|
||||
LittleEndian::write_i16(&mut bufy, y);
|
||||
} else {
|
||||
LittleEndian::write_i16(&mut bufx, 0);
|
||||
LittleEndian::write_i16(&mut bufy, 0);
|
||||
};
|
||||
block!(tx.write(bufx[0])).ok();
|
||||
block!(tx.write(bufx[1])).ok();
|
||||
block!(tx.write(bufy[0])).ok();
|
||||
block!(tx.write(bufy[1])).ok();
|
||||
}
|
||||
}
|
||||
Loading…
Reference in New Issue