LOC - Localizer Board (HYPE-90)

boards/stm32f767zi/Cargo.toml

@@ -4,17 +4,45 @@ version = "0.1.0"
 edition = "2021"
 
 [dependencies]
-embassy-stm32 = { version = "0.1.0", features = ["defmt", "stm32f767zi", "memory-x", "unstable-pac", "time-driver-any", "exti"] , git = "https://github.com/embassy-rs/embassy", rev = "1c466b81e6af6b34b1f706318cc0870a459550b7"}
-embassy-sync = { version = "0.6", features = ["defmt"], git = "https://github.com/embassy-rs/embassy", rev = "92326f10b5be1d6fdc6bd414eb0656e3890bd825"}
-embassy-executor = { version = "0.6.0", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "defmt", "integrated-timers"], git = "https://github.com/embassy-rs/embassy", rev = "1c466b81e6af6b34b1f706318cc0870a459550b7"}
-embassy-time = { version = "0.3.1", features = ["defmt", "defmt-timestamp-uptime", "tick-hz-32_768"], git = "https://github.com/embassy-rs/embassy", rev = "1c466b81e6af6b34b1f706318cc0870a459550b7"}
-embassy-net = { version = "0.4.0", features = ["defmt", "tcp", "dhcpv4", "medium-ethernet"], git = "https://github.com/embassy-rs/embassy", rev = "1c466b81e6af6b34b1f706318cc0870a459550b7"}
-embassy-futures = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy", rev = "1c466b81e6af6b34b1f706318cc0870a459550b7"}
+embassy-stm32 = { version = "0.1.0", features = [
+  "defmt",
+  "stm32f767zi",
+  "memory-x",
+  "unstable-pac",
+  "time-driver-any",
+  "exti",
+], git = "https://github.com/embassy-rs/embassy", rev = "1c466b81e6af6b34b1f706318cc0870a459550b7" }
+embassy-sync = { version = "0.6", features = [
+  "defmt",
+], git = "https://github.com/embassy-rs/embassy", rev = "92326f10b5be1d6fdc6bd414eb0656e3890bd825" }
+embassy-executor = { version = "0.6.0", features = [
+  "task-arena-size-32768",
+  "arch-cortex-m",
+  "executor-thread",
+  "defmt",
+  "integrated-timers",
+], git = "https://github.com/embassy-rs/embassy", rev = "1c466b81e6af6b34b1f706318cc0870a459550b7" }
+embassy-time = { version = "0.3.1", features = [
+  "defmt",
+  "defmt-timestamp-uptime",
+  "tick-hz-32_768",
+], git = "https://github.com/embassy-rs/embassy", rev = "1c466b81e6af6b34b1f706318cc0870a459550b7" }
+embassy-net = { version = "0.4.0", features = [
+  "defmt",
+  "tcp",
+  "dhcpv4",
+  "medium-ethernet",
+], git = "https://github.com/embassy-rs/embassy", rev = "1c466b81e6af6b34b1f706318cc0870a459550b7" }
+embassy-futures = { version = "0.1.0", git = "https://github.com/embassy-rs/embassy", rev = "1c466b81e6af6b34b1f706318cc0870a459550b7" }
 
 defmt = "0.3"
 defmt-rtt = "0.4"
+heapless = "0.8.0"
 
-cortex-m = { version = "0.7.6", features = ["inline-asm", "critical-section-single-core"] }
+cortex-m = { version = "0.7.6", features = [
+  "inline-asm",
+  "critical-section-single-core",
+] }
 cortex-m-rt = "0.7.0"
 embedded-hal = "0.2.6"
 panic-probe = { version = "0.3", features = ["print-defmt"] }
@@ -23,14 +51,16 @@ critical-section = "1.1"
 embedded-storage = "0.3.1"
 static_cell = "2"
 
-heapless = { version = "0.8", default-features = false, features = ["serde"]}
-rust-mqtt = { version = "0.3.0", default-features = false, features = ["defmt"] }
+rust-mqtt = { version = "0.3.0", default-features = false, features = [
+  "defmt",
+] }
 serde = { version = "1.0", default-features = false, features = ["derive"] }
 serde-json-core = "0.1.0"
 typenum = "1.17.0"
 
 hyped_core = { path = "../../lib/core" }
 hyped_sensors = { path = "../../lib/sensors" }
+hyped_localisation = { path = "../../lib/localisation" }
 hyped_state_machine = { path = "../../lib/state_machine" }
 hyped_communications = { path = "../../lib/communications" }
 
@@ -49,6 +79,10 @@ hyped_spi_derive = { path = "../../lib/io/hyped_spi/hyped_spi_derive" }
 name = "telemetry"
 path = "src/bin/boards/telemetry.rs"
 
+[[bin]]
+name = "localisation"
+path = "src/bin/boards/localisation.rs"
+
 [[bin]]
 name = "i2cdetect"
 path = "src/bin/tools/i2cdetect.rs"

boards/stm32f767zi/src/bin/accelerometer_mux_test.rs

@@ -13,17 +13,21 @@ use embassy_sync::{
     },
     watch::Watch,
 };
-use hyped_boards_stm32f767zi::tasks::sensors::read_accelerometers_from_mux::{
-    read_accelerometers_from_mux, AccelerometerMuxReadings,
+use hyped_boards_stm32f767zi::tasks::sensors::read_accelerometers_from_mux::read_accelerometers_from_mux;
+use hyped_localisation::{
+    config::{NUM_ACCELEROMETERS, NUM_AXIS},
+    types::RawAccelerometerData,
 };
-use hyped_sensors::SensorValueRange::*;
 use panic_probe as _;
 use static_cell::StaticCell;
 
 type I2c1Bus = Mutex<NoopRawMutex, RefCell<I2c<'static, Blocking>>>;
 
-static ACCELERATION_MUX_READINGS: Watch<CriticalSectionRawMutex, AccelerometerMuxReadings, 1> =
-    Watch::new();
+static ACCELERATION_MUX_READINGS: Watch<
+    CriticalSectionRawMutex,
+    RawAccelerometerData<NUM_ACCELEROMETERS, NUM_AXIS>,
+    1,
+> = Watch::new();
 
 #[embassy_executor::main]
 async fn main(spawner: Spawner) -> ! {
@@ -49,40 +53,13 @@ async fn main(spawner: Spawner) -> ! {
     loop {
         let readings = accelerometer_mux_reading_receiver.changed().await;
         for (i, reading) in readings.iter().enumerate() {
-            match reading {
-                Some(reading) => match reading {
-                    Safe(accelerometer_values) => {
-                        defmt::info!(
-                            "Accelerometer {} reading: x={:?}mg, y={:?}mg, z={:?}mg (safe)",
-                            i,
-                            accelerometer_values.x,
-                            accelerometer_values.y,
-                            accelerometer_values.z
-                        );
-                    }
-                    Warning(accelerometer_values) => {
-                        defmt::info!(
-                            "Accelerometer {} reading: x={:?}mg, y={:?}mg, z={:?}mg (unsafe)",
-                            i,
-                            accelerometer_values.x,
-                            accelerometer_values.y,
-                            accelerometer_values.z
-                        );
-                    }
-                    Critical(accelerometer_values) => {
-                        defmt::info!(
-                            "Accelerometer {} reading: x={:?}mg, y={:?}mg, z={:?}mg (critical)",
-                            i,
-                            accelerometer_values.x,
-                            accelerometer_values.y,
-                            accelerometer_values.z
-                        );
-                    }
-                },
-                None => {
-                    defmt::info!("Accelerometer {} reading: None", i);
-                }
-            }
+            defmt::info!(
+                "Accelerometer {} reading: x: {}, y: {}, z: {}",
+                i + 1,
+                reading[0],
+                reading[1],
+                reading[2]
+            );
         }
     }
 }

boards/stm32f767zi/src/bin/accelerometer_test.rs

@@ -13,22 +13,15 @@ use embassy_sync::{
     },
     watch::Watch,
 };
+use heapless::Vec;
 use hyped_boards_stm32f767zi::tasks::sensors::read_accelerometer::read_accelerometer;
-use hyped_sensors::{
-    accelerometer::AccelerationValues,
-    SensorValueRange::{self, *},
-};
 use panic_probe as _;
 use static_cell::StaticCell;
 
 type I2c1Bus = Mutex<NoopRawMutex, RefCell<I2c<'static, Blocking>>>;
 
 /// Used to keep the latest acceleration values.
-static ACCELEROMETER_READING: Watch<
-    CriticalSectionRawMutex,
-    Option<SensorValueRange<AccelerationValues>>,
-    1,
-> = Watch::new();
+static ACCELEROMETER_READING: Watch<CriticalSectionRawMutex, Option<Vec<f32, 3>>, 1> = Watch::new();
 
 #[embassy_executor::main]
 async fn main(spawner: Spawner) -> ! {
@@ -49,32 +42,14 @@ async fn main(spawner: Spawner) -> ! {
     loop {
         let reading = accelerometer_reading_receiver.changed().await;
         match reading {
-            Some(accelerometer_values) => match accelerometer_values {
-                Safe(accelerometer_values) => {
-                    defmt::info!(
-                        "Acceleration: x={:?}mg, y={:?}mg, z={:?}mg (safe)",
-                        accelerometer_values.x,
-                        accelerometer_values.y,
-                        accelerometer_values.z
-                    );
-                }
-                Warning(accelerometer_values) => {
-                    defmt::info!(
-                        "Acceleration: x={:?}mg, y={:?}mg, z={:?}mg (unsafe)",
-                        accelerometer_values.x,
-                        accelerometer_values.y,
-                        accelerometer_values.z
-                    );
-                }
-                Critical(accelerometer_values) => {
-                    defmt::info!(
-                        "Acceleration: x={:?}mg, y={:?}mg, z={:?}mg (critical)",
-                        accelerometer_values.x,
-                        accelerometer_values.y,
-                        accelerometer_values.z
-                    );
-                }
-            },
+            Some(accelerometer_values) => {
+                defmt::info!(
+                    "Accelerometer reading: x: {}, y: {}, z: {}",
+                    accelerometer_values[0],
+                    accelerometer_values[1],
+                    accelerometer_values[2]
+                )
+            }
             None => {
                 defmt::info!("Failed to read acceleration values.")
             }