IMU refactor #51
IMU refactor #51
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| raw_sample as f32 * (conversion_num / i16::MAX as f32) | ||
| } | ||
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| pub async fn gyro_get_data(&mut self) -> [f32; 3] { |
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Would we want this be rad/s? Or maybe name the function so that it's clear it returns deg/s?
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added accessor functions for both units and added units as postfix to each function name
| let gyro_pub = GYRO_CHANNEL.publisher().unwrap(); | ||
| let gyro_sub = GYRO_CHANNEL.subscriber().unwrap(); | ||
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| _spawner.spawn(imu_task(gyro_pub, accel_pub, p.SPI6, p.PA5, p.PA7, p.PA6, p.BDMA_CH0, p.BDMA_CH1, p.PC4, p.PC5, p.PB1, p.PB2, p.EXTI1, p.EXTI2)).unwrap(); |
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The task seems to default using from_pins constructor for the IMU. So I think imu_spi in this file will have issues?
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fixed in the latest commit
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| let imu_buf = IMU_BUFFER_CELL.init([0; 8]); | ||
| let mut imu = Bmi085::new_from_pins(imu_spi, sck, mosi, miso, txdma, rxdma, accel_cs, gyro_cs, imu_buf); | ||
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Should we add the self_test here? Related but accel needs to have a dummy read to initialize to SPI mode and self_test does that
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created an init function to be called. I don't like having new() be async because that breaks some meta patterns in Rust that are seemingly unofficial, but still.
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keep having a bad habit of doing this but it's def a Rust anti pattern. Do not use |
addressed this as well |
Fixes #46