Cargo.lock

@@ -467,7 +467,7 @@ checksum = "4445909572dbd556c457c849c4ca58623d84b27c8fff1e74b0b4227d8b90d17b"
 [[package]]
 name = "embassy-embedded-hal"
 version = "0.2.0"
-source = "git+https://github.com/embassy-rs/embassy#b8fa5cdf06f54cda1895b6d5e8d3b436dbce08ac"
+source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
 dependencies = [
  "defmt",
  "embassy-futures",
@@ -484,7 +484,7 @@ dependencies = [
 [[package]]
 name = "embassy-executor"
 version = "0.6.0"
-source = "git+https://github.com/embassy-rs/embassy#b8fa5cdf06f54cda1895b6d5e8d3b436dbce08ac"
+source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
 dependencies = [
  "cortex-m",
  "critical-section",
@@ -498,7 +498,7 @@ dependencies = [
 [[package]]
 name = "embassy-executor-macros"
 version = "0.5.0"
-source = "git+https://github.com/embassy-rs/embassy#b8fa5cdf06f54cda1895b6d5e8d3b436dbce08ac"
+source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
 dependencies = [
  "darling",
  "proc-macro2",
@@ -509,12 +509,12 @@ dependencies = [
 [[package]]
 name = "embassy-futures"
 version = "0.1.1"
-source = "git+https://github.com/embassy-rs/embassy#b8fa5cdf06f54cda1895b6d5e8d3b436dbce08ac"
+source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
 
 [[package]]
 name = "embassy-hal-internal"
 version = "0.2.0"
-source = "git+https://github.com/embassy-rs/embassy#b8fa5cdf06f54cda1895b6d5e8d3b436dbce08ac"
+source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
 dependencies = [
  "cortex-m",
  "critical-section",
@@ -525,7 +525,7 @@ dependencies = [
 [[package]]
 name = "embassy-net-driver"
 version = "0.2.0"
-source = "git+https://github.com/embassy-rs/embassy#b8fa5cdf06f54cda1895b6d5e8d3b436dbce08ac"
+source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
 dependencies = [
  "defmt",
 ]
@@ -533,7 +533,7 @@ dependencies = [
 [[package]]
 name = "embassy-stm32"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy#b8fa5cdf06f54cda1895b6d5e8d3b436dbce08ac"
+source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
 dependencies = [
  "aligned",
  "bit_field",
@@ -579,7 +579,7 @@ dependencies = [
 [[package]]
 name = "embassy-sync"
 version = "0.6.0"
-source = "git+https://github.com/embassy-rs/embassy#b8fa5cdf06f54cda1895b6d5e8d3b436dbce08ac"
+source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
 dependencies = [
  "cfg-if",
  "critical-section",
@@ -592,7 +592,7 @@ dependencies = [
 [[package]]
 name = "embassy-time"
 version = "0.3.2"
-source = "git+https://github.com/embassy-rs/embassy#b8fa5cdf06f54cda1895b6d5e8d3b436dbce08ac"
+source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
 dependencies = [
  "cfg-if",
  "critical-section",
@@ -610,7 +610,7 @@ dependencies = [
 [[package]]
 name = "embassy-time-driver"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy#b8fa5cdf06f54cda1895b6d5e8d3b436dbce08ac"
+source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
 dependencies = [
  "document-features",
 ]
@@ -618,12 +618,12 @@ dependencies = [
 [[package]]
 name = "embassy-time-queue-driver"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy#b8fa5cdf06f54cda1895b6d5e8d3b436dbce08ac"
+source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
 
 [[package]]
 name = "embassy-usb-driver"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy#b8fa5cdf06f54cda1895b6d5e8d3b436dbce08ac"
+source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
 dependencies = [
  "defmt",
 ]
@@ -631,7 +631,7 @@ dependencies = [
 [[package]]
 name = "embassy-usb-synopsys-otg"
 version = "0.1.0"
-source = "git+https://github.com/embassy-rs/embassy#b8fa5cdf06f54cda1895b6d5e8d3b436dbce08ac"
+source = "git+https://github.com/embassy-rs/embassy#0ede8479dc4c6a58cfab0a5d4df41c0592405971"
 dependencies = [
  "critical-section",
  "embassy-sync",
@@ -1252,7 +1252,7 @@ dependencies = [
 [[package]]
 name = "stm32-metapac"
 version = "15.0.0"
-source = "git+https://github.com/embassy-rs/stm32-data-generated?tag=stm32-data-5ef354f3e49f790e47f5c818f243459742c9b83b#d94c7ea2bd05428ba9fd2b5a39edb8ed99f65daa"
+source = "git+https://github.com/embassy-rs/stm32-data-generated?tag=stm32-data-9b7414490b10ffbd5beb1b0dcf14adb018cbe37f#dc782d51865ba6a0a8dd79a4d6972864b33b6f00"
 dependencies = [
  "cortex-m",
  "cortex-m-rt",

support/src/boot_control.rs

@@ -30,18 +30,16 @@ fn bkp() -> Bkp {
 fn write_backup_data(data: &[u16]) {
     let bkp = bkp();
     for (i, v) in data.iter().enumerate() {
-        // TODO: remove +1 when https://github.com/embassy-rs/stm32-data/pull/507 is merged
-        bkp.dr(i + 1).write(|w| w.set_d(*v));
+        bkp.dr(i).write(|w| w.set_d(*v));
     }
 }
 
 // Check if the first backup registers contain data
 fn backup_data_present(data: &[u16]) -> bool {
     let bkp = bkp();
-    // TODO: remove +1 when https://github.com/embassy-rs/stm32-data/pull/507 is merged
     data.iter()
         .enumerate()
-        .all(|(i, v)| bkp.dr(i + 1).read().d() == *v)
+        .all(|(i, v)| bkp.dr(i).read().d() == *v)
 }
 
 pub fn reboot() -> ! {

tele0592/Cargo.toml

@@ -42,3 +42,7 @@ required-features = ["controller"]
 [[example]]
 name = "check-firmware"
 required-features = ["controller", "float"]  
+
+[[example]]
+name = "encoder-curves"
+required-features = ["controller"]  

tele0592/examples/encoder-curves.rs

+use color_eyre::eyre::Context;
+use std::{fs::File, io::Write, time::Duration};
+use tele0592::Controller as _;
+
+const PERIOD: Duration = Duration::from_millis(20);
+const STEPS: usize = 200;
+
+const RAW: bool = true;
+
+fn main() -> color_eyre::Result<()> {
+    color_eyre::install()?;
+    let mut controller = rppal::i2c::I2c::with_bus(8).with_context(|| "opening I²C bus")?;
+    println!(
+        "Firmware version: {:?}",
+        controller.check_firmware_version()?
+    );
+    controller.set_motor_shutdown_timeout(Duration::from_secs(1))?;
+    controller.set_raw_pid_coefficients(0x80, 0x03, 0x00)?;
+
+    let mut relative = controller.new_relative()?;
+    let mut csv = File::create("encoders.csv")?;
+    for speed in [
+        10, 20, 30, 40, 50, 60, 70, 80, 0, -10, -20, -30, -40, -50, -60, -70, -80, 0,
+    ] {
+        if RAW {
+            println!("Setting raw motor speeds to {speed}");
+            controller.set_raw_motor_speed(Some(speed), Some(speed))?;
+        } else {
+            println!("Setting motor speeds to {speed}");
+            controller.set_motor_speed(i16::from(speed), i16::from(speed))?;
+        }
+        for _ in 1..STEPS {
+            std::thread::sleep(PERIOD);
+            let (left, right) = controller.get_relative_encoder_ticks(&mut relative)?;
+            writeln!(csv, "{speed},{left},{right}")?;
+        }
+    }
+    Ok(())
+}