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voxel: Use accelerometer to steer

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This commit is contained in:
Wladimir J. van der Laan 2020-01-12 17:32:57 +00:00
parent 7e0b0f05b0
commit ff78df047d
1 changed files with 17 additions and 3 deletions
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20
rust/voxel/src/main.rs
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@ -8,12 +8,14 @@ use libm::F32Ext;
use k210_hal::prelude::*;
use k210_hal::stdout::Stdout;
use k210_hal::Peripherals;
use k210_shared::board::def::{io, DISP_HEIGHT, DISP_PIXELS, DISP_WIDTH};
use k210_shared::board::def::{io, DISP_HEIGHT, DISP_PIXELS, DISP_WIDTH, MSA300_SLV_ADDR,MSA300_ADDR_BITS,MSA300_CLK};
use k210_shared::board::lcd::{self, LCD, LCDHL};
use k210_shared::board::lcd_colors;
use k210_shared::board::lcd_render::ScreenImage;
use k210_shared::board::msa300::Accelerometer;
use k210_shared::soc::dmac::{dma_channel, DMACExt};
use k210_shared::soc::fpioa;
use k210_shared::soc::i2c::{I2C,I2CExt};
use k210_shared::soc::sleep::usleep;
use k210_shared::soc::spi::SPIExt;
use k210_shared::soc::sysctl;
@ -59,6 +61,10 @@ fn io_mux_init() {
fpioa::set_function(io::LCD_CS, fpioa::function::SPI0_SS3);
fpioa::set_function(io::LCD_WR, fpioa::function::SPI0_SCLK);
/* I2C0 for touch-screen */
fpioa::set_function(io::I2C1_SCL, fpioa::function::I2C0_SCLK);
fpioa::set_function(io::I2C1_SDA, fpioa::function::I2C0_SDA);
sysctl::set_spi0_dvp_data(true);
}
@ -198,6 +204,11 @@ fn main() -> ! {
lcd.set_direction(lcd::direction::YX_LRUD);
lcd.clear(lcd_colors::PURPLE);
writeln!(stdout, "MSA300 init").unwrap();
let i2c = p.I2C0.constrain();
i2c.init(MSA300_SLV_ADDR, MSA300_ADDR_BITS, MSA300_CLK);
let acc = Accelerometer::init(i2c).unwrap();
// Some renderer constants:
let sky_color = lcd_colors::rgb565(50, 100, 200); // Color of sky
let horizon = (DISP_HEIGHT / 2) as f32; // y coordinate of horizon on screen
@ -231,6 +242,7 @@ fn main() -> ! {
for z in 1..distance {
// Compute both end-points of (rotated) line segment
// that represents this horizontal display line on map.
// 1 step in z = 1 step to the sides = 90° FOV.
let z = z as f32;
let mut pleft = (
(-cosphi * z - sinphi * z) + p.0,
@ -274,7 +286,9 @@ fn main() -> ! {
lcd.draw_picture(0, 0, DISP_WIDTH, DISP_HEIGHT, &disp.data);
p.1 -= 1.0;
phi += 0.005;
p.0 -= sinphi;
p.1 -= cosphi;
let (_, y, _) = acc.measure().unwrap();
phi += y * 0.02;
}
}