diff --git a/src/demo_tasks.rs b/src/demo_tasks.rs
index f900b5a374b5dd6a20173ba0097852e03c861202..329cb1a70ade964de2295bfbbb6d097deebcc43a 100644
--- a/src/demo_tasks.rs
+++ b/src/demo_tasks.rs
@@ -9,14 +9,13 @@ use embedded_graphics::{
primitives::{PrimitiveStyle, Rectangle, StyledDrawable},
text::Text,
};
-use embedded_hal_async::digital::Wait;
use esp_backtrace as _;
use esp_println::println;
use tinybmp::Bmp;
use smart_leds::SmartLedsWrite;
-use crate::flow3r::input::{FlowerInputEventSource, InputHandler};
+use crate::flow3r::input::InputHandler;
#[embassy_executor::task]
pub async fn leds_fade(mut leds: crate::flow3r::leds::Leds) -> ! {
diff --git a/src/flow3r/badgelink/mod.rs b/src/flow3r/badgelink/mod.rs
index b3cab2b21b16361305d218c0c93069d3336a4739..eb46d3e0df6ebcde8425daae69c8922414e0da26 100644
--- a/src/flow3r/badgelink/mod.rs
+++ b/src/flow3r/badgelink/mod.rs
@@ -1,19 +1,17 @@
use hal::{i2c::I2C, peripherals::I2C0};
-use port_expander::{Max7321, dev::max7321::Driver};
-use shared_bus::{I2cProxy, XtensaMutex, NullMutex};
+use port_expander::{dev::max7321::Driver, Max7321};
+use shared_bus::{I2cProxy, NullMutex, XtensaMutex};
pub mod badgenet;
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 {
pub fn new(i2c: I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>) -> Self {
- let mut port_expander = port_expander::Max7321::new(i2c, true, true, true, false);
- Self {
- port_expander
- }
+ let port_expander = port_expander::Max7321::new(i2c, true, true, true, false);
+ Self { port_expander }
}
pub fn left_audio(&mut self) -> Result<(), hal::i2c::Error> {
diff --git a/src/flow3r/captouch.rs b/src/flow3r/captouch.rs
index ac57e163f240cd41e08f5f2899e5f5242896320a..e6c724c77849137923b4aae75b2b1d579fed370b 100644
--- a/src/flow3r/captouch.rs
+++ b/src/flow3r/captouch.rs
@@ -3,64 +3,317 @@ use ad7147::{
stage::{CapInput, CdcInput, InputConnection},
Ad7147, DeviceConfiguration, Initialized, StageConfiguration,
};
+use embassy_futures::select::select;
use embassy_time::{Delay, Duration, Timer};
use embedded_hal_async::digital::Wait;
use esp_println::println;
use hal::{
- gpio::{Gpio16, Unknown},
+ gpio::{Gpio15, Gpio16, Unknown},
i2c::I2C,
- peripherals::I2C0, prelude::_esp_hal_gpio_InputPin,
+ peripherals::I2C0,
};
use shared_bus::{I2cProxy, XtensaMutex};
pub struct CapTouchHandler;
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<
- 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,
> {
- let ad7147 = Ad7147::new(i2c, 0b00101100);
- let config = DeviceConfiguration::builder()
+ let ad7147_bot = Ad7147::new(i2c_bot, 0b00101101);
+ let config_bot = DeviceConfiguration::builder()
.decimation(DecimationFactor::Factor64)
- .stages([StageConfiguration::builder()
- .calibration_enabled(true)
- .conversion_complete_interrupt_enabled(true)
- .add_input_connection(InputConnection {
- cin: CapInput::CIN0,
- cdc: CdcInput::Positive,
- })
- .build()])
+ .stages([
+ StageConfiguration::builder()
+ .calibration_enabled(true)
+ .conversion_complete_interrupt_enabled(true)
+ .pos_afe_offset(2)
+ .add_input_connection(InputConnection {
+ cin: CapInput::CIN0,
+ cdc: CdcInput::Positive,
+ })
+ .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();
- println!("device config: {:x?}", config.0.to_reg_value_for_init());
- ad7147.init(config, &mut Delay)
+ 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();
+ Ok((
+ ad7147_bot.init(config_bot, &mut Delay)?,
+ ad7147_top.init(config_top, &mut Delay)?,
+ ))
}
#[embassy_executor::task]
pub async fn captouch_controller(
- i2c: I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>,
- cap_b_int: Gpio16<Unknown>,
+ i2c_bot: I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>,
+ 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 ad7147 = init_captouch(i2c).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);
+ let mut cap_bot_int = cap_bot_int.into_pull_up_input();
+ 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();
- 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");
loop {
- println!("int pin: {}", cap_b_int.is_input_high());
- // cap_b_int.wait_for_low().await.unwrap();
- println!("captouch interrupt");
- let ints = ad7147.read_interrupt_registers().unwrap();
- println!("ints: {:?}", ints);
- let measurement = ad7147.read_all_stages().unwrap();
- println!("{}", measurement[0]);
- Timer::after(Duration::from_secs(10)).await;
+ //println!("int pin: {}", cap_b_int.is_input_high());
+ select(cap_bot_int.wait_for_low(), cap_top_int.wait_for_low());
+ let _ = ad7147_bot.read_interrupt_registers().unwrap();
+ let _ = ad7147_top.read_interrupt_registers().unwrap();
+ //println!("ints: {:?}", ints);
+ let measurement = ad7147_bot.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]
+ );
+ 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;
}
}
diff --git a/src/flow3r/imu.rs b/src/flow3r/imu.rs
index 5038b55408a7c062db9fc9beb57331245d9ee287..b1ed43a13b6fca9e47462516896c4cd5490c2c08 100644
--- a/src/flow3r/imu.rs
+++ b/src/flow3r/imu.rs
@@ -1,4 +1,4 @@
-use bmi270::{interface::I2cInterface, Bmi270, PwrCtrl};
+use bmi270::{interface::I2cInterface, AuxData, AxisData, Bmi270, Error, PwrCtrl};
use embassy_time::{Duration, Timer};
use esp_println::println;
use hal::{i2c::I2C, peripherals::I2C0};
@@ -8,30 +8,34 @@ pub struct ImuHandler {
imu: Bmi270<I2cInterface<I2cProxy<'static, XtensaMutex<I2C<'static, I2C0>>>>>,
}
-impl ImuHandler {}
+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);
-#[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 chip_id = bmi270.get_chip_id().unwrap();
+ println!("imu chip id: {}", chip_id);
- let chip_id = bmi270.get_chip_id().unwrap();
- println!("imu chip id: {}", chip_id);
+ bmi270.init().unwrap();
- bmi270.init().unwrap();
-
- let pwr_ctrl = PwrCtrl {
- aux_en: false,
- gyr_en: true,
- acc_en: true,
- temp_en: false,
- };
- bmi270.set_pwr_ctrl(pwr_ctrl).unwrap();
+ let pwr_ctrl = PwrCtrl {
+ aux_en: false,
+ gyr_en: true,
+ acc_en: true,
+ temp_en: false,
+ };
+ 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 {
- Timer::after(Duration::from_secs(10)).await;
+ pub fn atmospheric_pressure(&mut self) -> Result<AuxData, Error<hal::i2c::Error, ()>> {
+ todo!()
}
}
diff --git a/src/flow3r/input.rs b/src/flow3r/input.rs
index 3546bf0b0be9db8faf03130e1137b9b23705cf37..ae557b14860b5eafa4d02ba83975efd217faadff 100644
--- a/src/flow3r/input.rs
+++ b/src/flow3r/input.rs
@@ -70,13 +70,11 @@ pub struct Flow3rInput(FlowerInputEventSource);
impl Flow3rInput {
pub async fn wait_for_release(&mut self) -> Result<(), embassy_sync::pubsub::Error> {
- wait_for_event(self.0, Flow3rInputEventType::Press)
- .await
+ wait_for_event(self.0, Flow3rInputEventType::Press).await
}
pub async fn wait_for_press(&mut self) -> Result<(), embassy_sync::pubsub::Error> {
- wait_for_event(self.0, Flow3rInputEventType::Press)
- .await
+ wait_for_event(self.0, Flow3rInputEventType::Press).await
}
pub async fn wait_for_any(&mut self) -> Result<(), embassy_sync::pubsub::Error> {
diff --git a/src/flow3r/mod.rs b/src/flow3r/mod.rs
index a252d08e1a834b9cf509ed7530686ce16df4c25e..6551c92f820776ad4f768543843040f26c6fbbcf 100644
--- a/src/flow3r/mod.rs
+++ b/src/flow3r/mod.rs
@@ -1,5 +1,8 @@
use self::badgelink::BadgeLink;
+use self::captouch::CapTouchHandler;
use self::display::Display;
+use self::imu::ImuHandler;
+use self::input::InputHandler;
use self::leds::Leds;
pub mod badgelink;
@@ -11,13 +14,30 @@ pub mod leds;
pub mod sdcard;
pub struct Flow3r {
+ pub badgelink: BadgeLink,
+ pub captouch: CapTouchHandler,
pub display: Display,
+ pub imu: ImuHandler,
+ pub inputs: InputHandler,
pub leds: Leds,
- pub badgelink: BadgeLink,
}
impl Flow3r {
- pub fn new(display: Display, leds: Leds, badgelink: BadgeLink) -> Self {
- Self { display, leds, badgelink }
+ pub fn new(
+ badgelink: BadgeLink,
+ captouch: CapTouchHandler,
+ display: Display,
+ imu: ImuHandler,
+ inputs: InputHandler,
+ leds: Leds,
+ ) -> Self {
+ Self {
+ badgelink,
+ captouch,
+ display,
+ imu,
+ inputs,
+ leds,
+ }
}
}
diff --git a/src/runtime.rs b/src/runtime.rs
index bc802f1d50e15ea576fd5eda3333d2c1cf5688fd..7834e7f0331c48b2e0cda0a3ffeb350aa6085b67 100644
--- a/src/runtime.rs
+++ b/src/runtime.rs
@@ -2,7 +2,7 @@ use embassy_executor::{Executor, Spawner};
use embassy_time::{Duration, Timer};
use hal::{
clock::{ClockControl, Clocks},
- cpu_control::{self, AppCoreGuard, CpuControl},
+ cpu_control::CpuControl,
embassy,
gdma::Gdma,
i2c::I2C,
@@ -17,11 +17,13 @@ use hal::{
use static_cell::StaticCell;
use crate::flow3r::{
- captouch::captouch_controller,
+ badgelink::BadgeLink,
+ captouch::{captouch_controller, CapTouchHandler},
display::{display_refresh, Display},
- input::input_controller,
+ imu::ImuHandler,
+ input::{input_controller, InputHandler},
leds::init_leds,
- Flow3r, badgelink::BadgeLink,
+ Flow3r,
};
use crate::main;
@@ -82,7 +84,7 @@ async fn init_runtime() {
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
hal::interrupt::enable(
@@ -101,7 +103,8 @@ async fn init_runtime() {
0,
)
.unwrap();
- let leds = init_leds(pulse.channel0, io.pins.gpio14);
+
+ // Init I2C
let sda = io.pins.gpio2;
let scl = io.pins.gpio1;
@@ -115,8 +118,12 @@ async fn init_runtime() {
&clocks,
);
+ // Create shared I2C Bus
+
let i2c_busmanager = shared_bus::new_xtensa!(I2C<'static, I2C0> = i2c).unwrap();
+ // Init SPI + DMA
+
let sck = io.pins.gpio41;
let mosi = io.pins.gpio42;
let spi = Spi::new_no_cs_no_miso(
@@ -132,13 +139,16 @@ async fn init_runtime() {
let dma = Gdma::new(peripherals.DMA, &mut system.peripheral_clock_control);
let dma_channel = dma.channel0;
- // Display backlight control
+ // Init Display backlight control
+
let ledc = LEDC::new(
peripherals.LEDC,
clocks,
&mut system.peripheral_clock_control,
);
+ // Init display early to clear pixel mash from screen
+
let mut display = Display::new(
spi,
dma_channel,
@@ -150,6 +160,8 @@ async fn init_runtime() {
.await;
display.clear().await.unwrap();
+ // Init uart
+
let mut uart0 = Uart::new(peripherals.UART0, &mut system.peripheral_clock_control);
uart0.set_rx_fifo_full_threshold(READ_BUF_SIZE as u16);
@@ -159,11 +171,19 @@ async fn init_runtime() {
)
.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 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;
spawner
@@ -176,9 +196,13 @@ async fn init_runtime() {
.ok();
spawner
.spawn(captouch_controller(
+ i2c_busmanager.acquire_i2c(),
i2c_busmanager.acquire_i2c(),
io.pins.gpio16,
+ io.pins.gpio15,
))
.ok();
+
+ // Hand over to main task
spawner.spawn(main(flow3r)).ok();
}