diff --git a/src/demo_tasks.rs b/src/demo_tasks.rs
index 1559a64011bb017c85b0119756e89c67127673bc..ab643fa4f60f82d9f31e39574960f0a5c04d35cd 100644
--- a/src/demo_tasks.rs
+++ b/src/demo_tasks.rs
@@ -1,6 +1,5 @@
use crate::flow3r::{captouch::CaptouchHandler, display::Display, imu::ImuHandler};
-use bmi270::AxisData;
-use embassy_futures::select::{select, select3, select_array, Either, Either3};
+use embassy_futures::select::{select, select3, Either, Either3};
use embassy_time::{Duration, Timer};
use embedded_graphics::{
image::Image,
@@ -109,7 +108,7 @@ pub async fn draw_start_screen(display: &mut Display) {
display.set_backlight(100).unwrap();
}
-pub async fn imu_demo(display: &mut Display /*imu: &mut ImuHandler*/) {
+pub async fn imu_demo(display: &mut Display, imu: &mut ImuHandler) {
let input = InputHandler;
let mut inputs = input.split();
@@ -125,8 +124,7 @@ pub async fn imu_demo(display: &mut Display /*imu: &mut ImuHandler*/) {
let mut offset = (0i32, 0i32);
loop {
match select(inputs.sw2_center.wait_for_press(), async {
- //let imu_value = imu.rotation().unwrap();
- let imu_value = AxisData { x: 5, y: 5, z: 0 };
+ let imu_value = imu.rotation().unwrap();
offset = (
(-80).max(80.min(offset.0 + imu_value.x as i32)),
(-80).max(80.min(offset.1 + imu_value.y as i32)),
diff --git a/src/flow3r/imu.rs b/src/flow3r/imu.rs
index 2b06347ec9c4d2e5cfdd8b64b17aa7d443e541dc..f61ed7e0897b1220f991b5532079f89d30a678a8 100644
--- a/src/flow3r/imu.rs
+++ b/src/flow3r/imu.rs
@@ -11,10 +11,11 @@ impl ImuHandler {
pub fn new(i2c: I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>) -> Self {
let mut bmi270 = Bmi270::new_i2c(i2c, bmi270::I2cAddr::Default, bmi270::Burst::Max);
- let chip_id = bmi270.get_chip_id().unwrap();
- println!("imu chip id: {}", chip_id);
+ if let Some(chip_id) = bmi270.get_chip_id().ok() {
+ println!("imu chip id: {}", chip_id);
+ }
- bmi270.init().unwrap();
+ bmi270.init().ok();
let pwr_ctrl = PwrCtrl {
aux_en: false,
@@ -22,7 +23,7 @@ impl ImuHandler {
acc_en: true,
temp_en: false,
};
- bmi270.set_pwr_ctrl(pwr_ctrl).unwrap();
+ bmi270.set_pwr_ctrl(pwr_ctrl).ok();
Self { imu: bmi270 }
}
diff --git a/src/flow3r/mod.rs b/src/flow3r/mod.rs
index 691711fefb361ec1f01fe29079f2f20cf1caab4b..a2f881955f8ecf30f077a1dd8e3cd1becb1b96bc 100644
--- a/src/flow3r/mod.rs
+++ b/src/flow3r/mod.rs
@@ -1,7 +1,7 @@
use self::badgelink::BadgeLink;
use self::captouch::CaptouchHandler;
use self::display::Display;
-//use self::imu::ImuHandler;
+use self::imu::ImuHandler;
use self::input::InputHandler;
use self::leds::Leds;
@@ -18,7 +18,7 @@ pub struct Flow3r {
pub badgelink: BadgeLink,
pub captouch: CaptouchHandler,
pub display: Display,
- //pub imu: ImuHandler,
+ pub imu: ImuHandler,
pub inputs: InputHandler,
pub leds: Leds,
}
@@ -28,7 +28,7 @@ impl Flow3r {
badgelink: BadgeLink,
captouch: CaptouchHandler,
display: Display,
- //imu: ImuHandler,
+ imu: ImuHandler,
inputs: InputHandler,
leds: Leds,
) -> Self {
@@ -36,7 +36,7 @@ impl Flow3r {
badgelink,
captouch,
display,
- //imu,
+ imu,
inputs,
leds,
}
diff --git a/src/flow3r/ui/main_menu.rs b/src/flow3r/ui/main_menu.rs
index aefd1b3f479ba4f60749163e1d99071b489ada7d..9440c0cd5c4baa6153c4b99784682ef3e1a1e3b4 100644
--- a/src/flow3r/ui/main_menu.rs
+++ b/src/flow3r/ui/main_menu.rs
@@ -9,10 +9,10 @@ use embedded_graphics::{
use crate::{
demo_tasks::{display_demo, imu_demo, captouch_demo},
- flow3r::{display::Display, input::InputHandler},
+ flow3r::{display::Display, input::InputHandler, imu::ImuHandler},
};
-pub async fn main_menu(mut display: Display, inputs: InputHandler) -> ! {
+pub async fn main_menu(mut display: Display, inputs: InputHandler, mut imu: ImuHandler) -> ! {
let mut inputs = inputs.split();
let apps = ["input_test", "imu_test", "captouch_test"];
@@ -39,7 +39,7 @@ pub async fn main_menu(mut display: Display, inputs: InputHandler) -> ! {
.await
{
Either3::First(_) => {
- start_current_app(apps[selected], &mut display).await;
+ start_current_app(apps[selected], &mut display, &mut imu).await;
display
.fill_solid(&display.bounding_box(), Rgb565::BLACK)
.unwrap();
@@ -103,10 +103,10 @@ async fn play_transition_animation<'a>(
}
}
-async fn start_current_app(app: &str, display: &mut Display) {
+async fn start_current_app(app: &str, display: &mut Display, imu: &mut ImuHandler) {
match app {
"input_test" => display_demo(display).await,
- "imu_test" => imu_demo(display).await,
+ "imu_test" => imu_demo(display, imu).await,
"captouch_test" => captouch_demo(display).await,
_ => (),
}
diff --git a/src/main.rs b/src/main.rs
index 1dff389d14fb6b0a44c009e167b13224b8cab0af..9e3ddf291f989e622d5bb1da9ab0a23748b0bc7c 100644
--- a/src/main.rs
+++ b/src/main.rs
@@ -29,9 +29,8 @@ async fn main(mut flow3r: Flow3r) -> ! {
let spawner = Spawner::for_current_executor().await;
spawner.spawn(demo_tasks::leds_fade(flow3r.leds)).ok();
- // spawner.spawn(demo_tasks::display_demo(flow3r.display)).ok();
Timer::after(Duration::from_secs(3)).await;
- main_menu(flow3r.display, flow3r.inputs).await
+ main_menu(flow3r.display, flow3r.inputs, flow3r.imu).await
}
diff --git a/src/runtime.rs b/src/runtime.rs
index 456dd2dbfb2390d3fdc56bd8a6ab1708ecfa8f75..2228e93e777c8db3b631c5e81026a54b3b211c05 100644
--- a/src/runtime.rs
+++ b/src/runtime.rs
@@ -19,8 +19,8 @@ use static_cell::StaticCell;
use crate::flow3r::{
badgelink::BadgeLink,
captouch::{captouch_controller, CaptouchHandler},
- display::{display_refresh, Display},
- //imu::ImuHandler,
+ display::Display,
+ imu::ImuHandler,
input::{input_controller, InputHandler},
leds::init_leds,
Flow3r,
@@ -31,7 +31,7 @@ const READ_BUF_SIZE: usize = 64;
static RNG: StaticCell<Rng> = StaticCell::new();
static EXECUTOR: StaticCell<Executor> = StaticCell::new();
-static APP_CORE_EXECUTOR: StaticCell<Executor> = StaticCell::new();
+//static APP_CORE_EXECUTOR: StaticCell<Executor> = StaticCell::new();
static CLOCKS: StaticCell<Clocks> = StaticCell::new();
pub fn start_runtime() -> ! {
@@ -44,10 +44,10 @@ pub fn start_runtime() -> ! {
#[embassy_executor::task]
async fn start_app_core(mut cpu_control: CpuControl) -> ! {
let mut app_core_function = || {
- let executor = APP_CORE_EXECUTOR.init(Executor::new());
+ /*let executor = APP_CORE_EXECUTOR.init(Executor::new());
executor.run(|spawner| {
spawner.spawn(display_refresh()).ok();
- })
+ })*/
};
let _guard = cpu_control.start_app_core(&mut app_core_function).unwrap();
loop {
@@ -176,12 +176,12 @@ async fn init_runtime() {
// Init Flow3r components
let badgelink = BadgeLink::new(i2c_busmanager.acquire_i2c());
- //let imu = ImuHandler::new(i2c_busmanager.acquire_i2c());
+ let imu = ImuHandler::new(i2c_busmanager.acquire_i2c());
let inputs = InputHandler;
let captouch = CaptouchHandler;
let leds = init_leds(pulse.channel0, io.pins.gpio14);
- let flow3r = Flow3r::new(badgelink, captouch, display, inputs, leds);
+ let flow3r = Flow3r::new(badgelink, captouch, display, imu, inputs, leds);
// Spawn background tasks