Skip to content
Snippets Groups Projects
Commit dcd5d69d authored by zdmx's avatar zdmx :crab:
Browse files

Work on captouch, clean up a bit

parent b4933d91
No related branches found
No related tags found
No related merge requests found
Show whitespace changes
Inline Side-by-side
src/demo_tasks.rs
+ 1
− 2
View file @ dcd5d69d
...@@ -9,14 +9,13 @@ use embedded_graphics::{ ...@@ -9,14 +9,13 @@ use embedded_graphics::{
primitives::{PrimitiveStyle, Rectangle, StyledDrawable}, primitives::{PrimitiveStyle, Rectangle, StyledDrawable},
text::Text, text::Text,
}; };
use embedded_hal_async::digital::Wait;
use esp_backtrace as _; use esp_backtrace as _;
use esp_println::println; use esp_println::println;
use tinybmp::Bmp; use tinybmp::Bmp;
use smart_leds::SmartLedsWrite; use smart_leds::SmartLedsWrite;
use crate::flow3r::input::{FlowerInputEventSource, InputHandler}; use crate::flow3r::input::InputHandler;
#[embassy_executor::task] #[embassy_executor::task]
pub async fn leds_fade(mut leds: crate::flow3r::leds::Leds) -> ! { pub async fn leds_fade(mut leds: crate::flow3r::leds::Leds) -> ! {
......
src/flow3r/badgelink/mod.rs
+ 5
− 7
View file @ dcd5d69d
use hal::{i2c::I2C, peripherals::I2C0}; use hal::{i2c::I2C, peripherals::I2C0};
use port_expander::{Max7321, dev::max7321::Driver}; use port_expander::{dev::max7321::Driver, Max7321};
use shared_bus::{I2cProxy, XtensaMutex, NullMutex}; use shared_bus::{I2cProxy, NullMutex, XtensaMutex};
pub mod badgenet; pub mod badgenet;
pub struct BadgeLink { pub struct BadgeLink {
port_expander: Max7321<NullMutex<Driver<I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>>>> port_expander: Max7321<NullMutex<Driver<I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>>>>,
} }
impl BadgeLink { impl BadgeLink {
pub fn new(i2c: I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>) -> Self { pub fn new(i2c: I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>) -> Self {
let mut port_expander = port_expander::Max7321::new(i2c, true, true, true, false); let port_expander = port_expander::Max7321::new(i2c, true, true, true, false);
Self { Self { port_expander }
port_expander
}
} }
pub fn left_audio(&mut self) -> Result<(), hal::i2c::Error> { pub fn left_audio(&mut self) -> Result<(), hal::i2c::Error> {
......
src/flow3r/captouch.rs
+ 288
− 35
View file @ dcd5d69d
...@@ -3,64 +3,317 @@ use ad7147::{ ...@@ -3,64 +3,317 @@ use ad7147::{
stage::{CapInput, CdcInput, InputConnection}, stage::{CapInput, CdcInput, InputConnection},
Ad7147, DeviceConfiguration, Initialized, StageConfiguration, Ad7147, DeviceConfiguration, Initialized, StageConfiguration,
}; };
use embassy_futures::select::select;
use embassy_time::{Delay, Duration, Timer}; use embassy_time::{Delay, Duration, Timer};
use embedded_hal_async::digital::Wait; use embedded_hal_async::digital::Wait;
use esp_println::println; use esp_println::println;
use hal::{ use hal::{
gpio::{Gpio16, Unknown}, gpio::{Gpio15, Gpio16, Unknown},
i2c::I2C, i2c::I2C,
peripherals::I2C0, prelude::_esp_hal_gpio_InputPin, peripherals::I2C0,
}; };
use shared_bus::{I2cProxy, XtensaMutex}; use shared_bus::{I2cProxy, XtensaMutex};
pub struct CapTouchHandler; pub struct CapTouchHandler;
fn init_captouch( fn init_captouch(
i2c: I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>, i2c_bot: I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>,
i2c_top: I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>,
) -> Result< ) -> Result<
Ad7147<I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>, Initialized, 1>, (
Ad7147<I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>, Initialized, 12>,
Ad7147<I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>, Initialized, 12>,
),
hal::i2c::Error, hal::i2c::Error,
> { > {
let ad7147 = Ad7147::new(i2c, 0b00101100); let ad7147_bot = Ad7147::new(i2c_bot, 0b00101101);
let config = DeviceConfiguration::builder() let config_bot = DeviceConfiguration::builder()
.decimation(DecimationFactor::Factor64) .decimation(DecimationFactor::Factor64)
.stages([StageConfiguration::builder() .stages([
StageConfiguration::builder()
.calibration_enabled(true) .calibration_enabled(true)
.conversion_complete_interrupt_enabled(true) .conversion_complete_interrupt_enabled(true)
.pos_afe_offset(2)
.add_input_connection(InputConnection { .add_input_connection(InputConnection {
cin: CapInput::CIN0, cin: CapInput::CIN0,
cdc: CdcInput::Positive, cdc: CdcInput::Positive,
}) })
.build()]) .build(),
StageConfiguration::builder()
.calibration_enabled(true)
.conversion_complete_interrupt_enabled(true)
.pos_afe_offset(2)
.add_input_connection(InputConnection {
cin: CapInput::CIN1,
cdc: CdcInput::Positive,
})
.build(),
StageConfiguration::builder()
.calibration_enabled(true)
.conversion_complete_interrupt_enabled(true)
.pos_afe_offset(2)
.add_input_connection(InputConnection {
cin: CapInput::CIN2,
cdc: CdcInput::Positive,
})
.build(),
StageConfiguration::builder()
.calibration_enabled(true)
.conversion_complete_interrupt_enabled(true)
.pos_afe_offset(2)
.add_input_connection(InputConnection {
cin: CapInput::CIN3,
cdc: CdcInput::Positive,
})
.build(),
StageConfiguration::builder()
.calibration_enabled(true)
.conversion_complete_interrupt_enabled(true)
.pos_afe_offset(2)
.add_input_connection(InputConnection {
cin: CapInput::CIN4,
cdc: CdcInput::Positive,
})
.build(),
StageConfiguration::builder()
.calibration_enabled(true)
.conversion_complete_interrupt_enabled(true)
.pos_afe_offset(2)
.add_input_connection(InputConnection {
cin: CapInput::CIN5,
cdc: CdcInput::Positive,
})
.build(),
StageConfiguration::builder()
.calibration_enabled(true)
.conversion_complete_interrupt_enabled(true)
.pos_afe_offset(2)
.add_input_connection(InputConnection {
cin: CapInput::CIN6,
cdc: CdcInput::Positive,
})
.build(),
StageConfiguration::builder()
.calibration_enabled(true)
.conversion_complete_interrupt_enabled(true)
.pos_afe_offset(2)
.add_input_connection(InputConnection {
cin: CapInput::CIN7,
cdc: CdcInput::Positive,
})
.build(),
StageConfiguration::builder()
.calibration_enabled(true)
.conversion_complete_interrupt_enabled(true)
.pos_afe_offset(2)
.add_input_connection(InputConnection {
cin: CapInput::CIN8,
cdc: CdcInput::Positive,
})
.build(),
StageConfiguration::builder()
.calibration_enabled(true)
.conversion_complete_interrupt_enabled(true)
.pos_afe_offset(2)
.add_input_connection(InputConnection {
cin: CapInput::CIN9,
cdc: CdcInput::Positive,
})
.build(),
StageConfiguration::builder()
.calibration_enabled(true)
.conversion_complete_interrupt_enabled(true)
.pos_afe_offset(30)
.add_input_connection(InputConnection {
cin: CapInput::CIN10,
cdc: CdcInput::Positive,
})
.build(),
StageConfiguration::builder()
.calibration_enabled(true)
.conversion_complete_interrupt_enabled(true)
.pos_afe_offset(26)
.add_input_connection(InputConnection {
cin: CapInput::CIN11,
cdc: CdcInput::Positive,
})
.build(),
])
.build();
let ad7147_top = Ad7147::new(i2c_top, 0b00101100);
let config_top = DeviceConfiguration::builder()
.decimation(DecimationFactor::Factor64)
.stages([
StageConfiguration::builder()
.calibration_enabled(true)
.conversion_complete_interrupt_enabled(true)
.pos_afe_offset(30)
.add_input_connection(InputConnection {
cin: CapInput::CIN0,
cdc: CdcInput::Positive,
})
.build(),
StageConfiguration::builder()
.calibration_enabled(true)
.conversion_complete_interrupt_enabled(true)
.pos_afe_offset(30)
.add_input_connection(InputConnection {
cin: CapInput::CIN1,
cdc: CdcInput::Positive,
})
.build(),
StageConfiguration::builder()
.calibration_enabled(true)
.conversion_complete_interrupt_enabled(true)
.pos_afe_offset(28)
.add_input_connection(InputConnection {
cin: CapInput::CIN2,
cdc: CdcInput::Positive,
})
.build(),
StageConfiguration::builder()
.calibration_enabled(true)
.conversion_complete_interrupt_enabled(true)
.pos_afe_offset(28)
.add_input_connection(InputConnection {
cin: CapInput::CIN3,
cdc: CdcInput::Positive,
})
.build(),
StageConfiguration::builder()
.calibration_enabled(true)
.conversion_complete_interrupt_enabled(true)
.pos_afe_offset(28)
.add_input_connection(InputConnection {
cin: CapInput::CIN4,
cdc: CdcInput::Positive,
})
.build(),
StageConfiguration::builder()
.calibration_enabled(true)
.conversion_complete_interrupt_enabled(true)
.pos_afe_offset(28)
.add_input_connection(InputConnection {
cin: CapInput::CIN5,
cdc: CdcInput::Positive,
})
.build(),
StageConfiguration::builder()
.calibration_enabled(true)
.conversion_complete_interrupt_enabled(true)
.pos_afe_offset(28)
.add_input_connection(InputConnection {
cin: CapInput::CIN6,
cdc: CdcInput::Positive,
})
.build(),
StageConfiguration::builder()
.calibration_enabled(true)
.conversion_complete_interrupt_enabled(true)
.pos_afe_offset(10)
.add_input_connection(InputConnection {
cin: CapInput::CIN7,
cdc: CdcInput::Positive,
})
.build(),
StageConfiguration::builder()
.calibration_enabled(true)
.conversion_complete_interrupt_enabled(true)
.pos_afe_offset(20)
.add_input_connection(InputConnection {
cin: CapInput::CIN8,
cdc: CdcInput::Positive,
})
.build(),
StageConfiguration::builder()
.calibration_enabled(true)
.conversion_complete_interrupt_enabled(true)
.pos_afe_offset(20)
.add_input_connection(InputConnection {
cin: CapInput::CIN9,
cdc: CdcInput::Positive,
})
.build(),
StageConfiguration::builder()
.calibration_enabled(true)
.conversion_complete_interrupt_enabled(true)
.pos_afe_offset(8)
.add_input_connection(InputConnection {
cin: CapInput::CIN10,
cdc: CdcInput::Positive,
})
.build(),
StageConfiguration::builder()
.calibration_enabled(true)
.conversion_complete_interrupt_enabled(true)
.pos_afe_offset(20)
.add_input_connection(InputConnection {
cin: CapInput::CIN11,
cdc: CdcInput::Positive,
})
.build(),
])
.build(); .build();
println!("device config: {:x?}", config.0.to_reg_value_for_init()); Ok((
ad7147.init(config, &mut Delay) ad7147_bot.init(config_bot, &mut Delay)?,
ad7147_top.init(config_top, &mut Delay)?,
))
} }
#[embassy_executor::task] #[embassy_executor::task]
pub async fn captouch_controller( pub async fn captouch_controller(
i2c: I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>, i2c_bot: I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>,
cap_b_int: Gpio16<Unknown>, i2c_top: I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>,
cap_bot_int: Gpio16<Unknown>,
cap_top_int: Gpio15<Unknown>,
) -> ! { ) -> ! {
let mut cap_b_int = cap_b_int.into_pull_up_input(); let mut cap_bot_int = cap_bot_int.into_pull_up_input();
let mut ad7147 = init_captouch(i2c).unwrap(); let mut cap_top_int = cap_top_int.into_pull_up_input();
let (mut ad7147_bot, mut ad7147_top) = init_captouch(i2c_bot, i2c_top).unwrap();
let device_id = ad7147.read_device_id().unwrap();
println!("captouch device id: {:016b}", device_id);
let ints = ad7147.read_interrupt_registers().unwrap();
println!("ints: {:?}", ints);
println!("int pin: {}", cap_b_int.is_input_high()); let device_id = ad7147_bot.read_device_id().unwrap();
println!("captouch bot device id: {:016b}", device_id);
let device_id = ad7147_top.read_device_id().unwrap();
println!("captouch top device id: {:016b}", device_id);
println!("initialized captouch"); println!("initialized captouch");
loop { loop {
println!("int pin: {}", cap_b_int.is_input_high()); //println!("int pin: {}", cap_b_int.is_input_high());
// cap_b_int.wait_for_low().await.unwrap(); select(cap_bot_int.wait_for_low(), cap_top_int.wait_for_low());
println!("captouch interrupt"); let _ = ad7147_bot.read_interrupt_registers().unwrap();
let ints = ad7147.read_interrupt_registers().unwrap(); let _ = ad7147_top.read_interrupt_registers().unwrap();
println!("ints: {:?}", ints); //println!("ints: {:?}", ints);
let measurement = ad7147.read_all_stages().unwrap(); let measurement = ad7147_bot.read_all_stages().unwrap();
println!("{}", measurement[0]); println!(
Timer::after(Duration::from_secs(10)).await; "{} {} {} {} {} {} {} {} {} {} {} {}",
measurement[0],
measurement[1],
measurement[2],
measurement[3],
measurement[4],
measurement[5],
measurement[6],
measurement[7],
measurement[8],
measurement[9],
measurement[10],
measurement[11]
);
let measurement = ad7147_top.read_all_stages().unwrap();
println!(
"{} {} {} {} {} {} {} {} {} {} {} {}",
measurement[0],
measurement[1],
measurement[2],
measurement[3],
measurement[4],
measurement[5],
measurement[6],
measurement[7],
measurement[8],
measurement[9],
measurement[10],
measurement[11]
);
Timer::after(Duration::from_millis(1000)).await;
} }
} }
src/flow3r/imu.rs
+ 24
− 20
View file @ dcd5d69d
use bmi270::{interface::I2cInterface, Bmi270, PwrCtrl}; use bmi270::{interface::I2cInterface, AuxData, AxisData, Bmi270, Error, PwrCtrl};
use embassy_time::{Duration, Timer}; use embassy_time::{Duration, Timer};
use esp_println::println; use esp_println::println;
use hal::{i2c::I2C, peripherals::I2C0}; use hal::{i2c::I2C, peripherals::I2C0};
...@@ -8,10 +8,8 @@ pub struct ImuHandler { ...@@ -8,10 +8,8 @@ pub struct ImuHandler {
imu: Bmi270<I2cInterface<I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>>>, imu: Bmi270<I2cInterface<I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>>>,
} }
impl ImuHandler {} impl ImuHandler {
pub fn new(i2c: I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>) -> Self {
#[embassy_executor::task]
pub async fn imu_manager(i2c: I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>) -> ! {
let mut bmi270 = Bmi270::new_i2c(i2c, bmi270::I2cAddr::Default, bmi270::Burst::Max); let mut bmi270 = Bmi270::new_i2c(i2c, bmi270::I2cAddr::Default, bmi270::Burst::Max);
let chip_id = bmi270.get_chip_id().unwrap(); let chip_id = bmi270.get_chip_id().unwrap();
...@@ -26,12 +24,18 @@ pub async fn imu_manager(i2c: I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>> ...@@ -26,12 +24,18 @@ pub async fn imu_manager(i2c: I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>
temp_en: false, temp_en: false,
}; };
bmi270.set_pwr_ctrl(pwr_ctrl).unwrap(); bmi270.set_pwr_ctrl(pwr_ctrl).unwrap();
Self { imu: bmi270 }
}
let data = bmi270.get_data().unwrap(); pub fn acceleration(&mut self) -> Result<AxisData, Error<hal::i2c::Error, ()>> {
self.imu.get_acc_data()
}
println!("imu data: {:?}", data); pub fn rotation(&mut self) -> Result<AxisData, Error<hal::i2c::Error, ()>> {
self.imu.get_gyr_data()
}
loop { pub fn atmospheric_pressure(&mut self) -> Result<AuxData, Error<hal::i2c::Error, ()>> {
Timer::after(Duration::from_secs(10)).await; todo!()
} }
} }
src/flow3r/input.rs
+ 2
− 4
View file @ dcd5d69d
...@@ -70,13 +70,11 @@ pub struct Flow3rInput(FlowerInputEventSource); ...@@ -70,13 +70,11 @@ pub struct Flow3rInput(FlowerInputEventSource);
impl Flow3rInput { impl Flow3rInput {
pub async fn wait_for_release(&mut self) -> Result<(), embassy_sync::pubsub::Error> { pub async fn wait_for_release(&mut self) -> Result<(), embassy_sync::pubsub::Error> {
wait_for_event(self.0, Flow3rInputEventType::Press) wait_for_event(self.0, Flow3rInputEventType::Press).await
.await
} }
pub async fn wait_for_press(&mut self) -> Result<(), embassy_sync::pubsub::Error> { pub async fn wait_for_press(&mut self) -> Result<(), embassy_sync::pubsub::Error> {
wait_for_event(self.0, Flow3rInputEventType::Press) wait_for_event(self.0, Flow3rInputEventType::Press).await
.await
} }
pub async fn wait_for_any(&mut self) -> Result<(), embassy_sync::pubsub::Error> { pub async fn wait_for_any(&mut self) -> Result<(), embassy_sync::pubsub::Error> {
......
src/flow3r/mod.rs
+ 23
− 3
View file @ dcd5d69d
use self::badgelink::BadgeLink; use self::badgelink::BadgeLink;
use self::captouch::CapTouchHandler;
use self::display::Display; use self::display::Display;
use self::imu::ImuHandler;
use self::input::InputHandler;
use self::leds::Leds; use self::leds::Leds;
pub mod badgelink; pub mod badgelink;
...@@ -11,13 +14,30 @@ pub mod leds; ...@@ -11,13 +14,30 @@ pub mod leds;
pub mod sdcard; pub mod sdcard;
pub struct Flow3r { pub struct Flow3r {
pub badgelink: BadgeLink,
pub captouch: CapTouchHandler,
pub display: Display, pub display: Display,
pub imu: ImuHandler,
pub inputs: InputHandler,
pub leds: Leds, pub leds: Leds,
pub badgelink: BadgeLink,
} }
impl Flow3r { impl Flow3r {
pub fn new(display: Display, leds: Leds, badgelink: BadgeLink) -> Self { pub fn new(
Self { display, leds, badgelink } badgelink: BadgeLink,
captouch: CapTouchHandler,
display: Display,
imu: ImuHandler,
inputs: InputHandler,
leds: Leds,
) -> Self {
Self {
badgelink,
captouch,
display,
imu,
inputs,
leds,
}
} }
} }
src/runtime.rs
+ 33
− 9
View file @ dcd5d69d
...@@ -2,7 +2,7 @@ use embassy_executor::{Executor, Spawner}; ...@@ -2,7 +2,7 @@ use embassy_executor::{Executor, Spawner};
use embassy_time::{Duration, Timer}; use embassy_time::{Duration, Timer};
use hal::{ use hal::{
clock::{ClockControl, Clocks}, clock::{ClockControl, Clocks},
cpu_control::{self, AppCoreGuard, CpuControl}, cpu_control::CpuControl,
embassy, embassy,
gdma::Gdma, gdma::Gdma,
i2c::I2C, i2c::I2C,
...@@ -17,11 +17,13 @@ use hal::{ ...@@ -17,11 +17,13 @@ use hal::{
use static_cell::StaticCell; use static_cell::StaticCell;
use crate::flow3r::{ use crate::flow3r::{
captouch::captouch_controller, badgelink::BadgeLink,
captouch::{captouch_controller, CapTouchHandler},
display::{display_refresh, Display}, display::{display_refresh, Display},
input::input_controller, imu::ImuHandler,
input::{input_controller, InputHandler},
leds::init_leds, leds::init_leds,
Flow3r, badgelink::BadgeLink, Flow3r,
}; };
use crate::main; use crate::main;
...@@ -82,7 +84,7 @@ async fn init_runtime() { ...@@ -82,7 +84,7 @@ async fn init_runtime() {
embassy::init(&clocks, SystemTimer::new(peripherals.SYSTIMER)); embassy::init(&clocks, SystemTimer::new(peripherals.SYSTIMER));
let cpu_control = CpuControl::new(system.cpu_control); let _cpu_control = CpuControl::new(system.cpu_control);
// Async requires the GPIO interrupt to wake futures // Async requires the GPIO interrupt to wake futures
hal::interrupt::enable( hal::interrupt::enable(
...@@ -101,7 +103,8 @@ async fn init_runtime() { ...@@ -101,7 +103,8 @@ async fn init_runtime() {
0, 0,
) )
.unwrap(); .unwrap();
let leds = init_leds(pulse.channel0, io.pins.gpio14);
// Init I2C
let sda = io.pins.gpio2; let sda = io.pins.gpio2;
let scl = io.pins.gpio1; let scl = io.pins.gpio1;
...@@ -115,8 +118,12 @@ async fn init_runtime() { ...@@ -115,8 +118,12 @@ async fn init_runtime() {
&clocks, &clocks,
); );
// Create shared I2C Bus
let i2c_busmanager = shared_bus::new_xtensa!(I2C<'static, I2C0> = i2c).unwrap(); let i2c_busmanager = shared_bus::new_xtensa!(I2C<'static, I2C0> = i2c).unwrap();
// Init SPI + DMA
let sck = io.pins.gpio41; let sck = io.pins.gpio41;
let mosi = io.pins.gpio42; let mosi = io.pins.gpio42;
let spi = Spi::new_no_cs_no_miso( let spi = Spi::new_no_cs_no_miso(
...@@ -132,13 +139,16 @@ async fn init_runtime() { ...@@ -132,13 +139,16 @@ async fn init_runtime() {
let dma = Gdma::new(peripherals.DMA, &mut system.peripheral_clock_control); let dma = Gdma::new(peripherals.DMA, &mut system.peripheral_clock_control);
let dma_channel = dma.channel0; let dma_channel = dma.channel0;
// Display backlight control // Init Display backlight control
let ledc = LEDC::new( let ledc = LEDC::new(
peripherals.LEDC, peripherals.LEDC,
clocks, clocks,
&mut system.peripheral_clock_control, &mut system.peripheral_clock_control,
); );
// Init display early to clear pixel mash from screen
let mut display = Display::new( let mut display = Display::new(
spi, spi,
dma_channel, dma_channel,
...@@ -150,6 +160,8 @@ async fn init_runtime() { ...@@ -150,6 +160,8 @@ async fn init_runtime() {
.await; .await;
display.clear().await.unwrap(); display.clear().await.unwrap();
// Init uart
let mut uart0 = Uart::new(peripherals.UART0, &mut system.peripheral_clock_control); let mut uart0 = Uart::new(peripherals.UART0, &mut system.peripheral_clock_control);
uart0.set_rx_fifo_full_threshold(READ_BUF_SIZE as u16); uart0.set_rx_fifo_full_threshold(READ_BUF_SIZE as u16);
...@@ -159,11 +171,19 @@ async fn init_runtime() { ...@@ -159,11 +171,19 @@ async fn init_runtime() {
) )
.unwrap(); .unwrap();
let rng = RNG.init(Rng::new(peripherals.RNG)); let _rng = RNG.init(Rng::new(peripherals.RNG));
// Init Flow3r components
let badgelink = BadgeLink::new(i2c_busmanager.acquire_i2c()); let badgelink = BadgeLink::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(display, leds, badgelink); let flow3r = Flow3r::new(badgelink, captouch, display, imu, inputs, leds);
// Spawn background tasks
let spawner = Spawner::for_current_executor().await; let spawner = Spawner::for_current_executor().await;
spawner spawner
...@@ -176,9 +196,13 @@ async fn init_runtime() { ...@@ -176,9 +196,13 @@ async fn init_runtime() {
.ok(); .ok();
spawner spawner
.spawn(captouch_controller( .spawn(captouch_controller(
i2c_busmanager.acquire_i2c(),
i2c_busmanager.acquire_i2c(), i2c_busmanager.acquire_i2c(),
io.pins.gpio16, io.pins.gpio16,
io.pins.gpio15,
)) ))
.ok(); .ok();
// Hand over to main task
spawner.spawn(main(flow3r)).ok(); spawner.spawn(main(flow3r)).ok();
} }
0% or .
You are about to add 0 people to the discussion. Proceed with caution.
Please register or to comment