Rewrite: Embassy + SBG + Prost#6
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| pub fn arm(&mut self) { | ||
| if self.ejection_enable.is_high() { | ||
| info!("arm ejection enabled"); | ||
| self.arming.main.set_high(); | ||
| self.arming.main_b.set_high(); | ||
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| self.arming.drogue.set_high(); | ||
| self.arming.main_b.set_high(); | ||
| } | ||
| } | ||
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| pub fn disarm(&mut self) { | ||
| info!("arm ejection disabled"); | ||
| self.arming.main.set_low(); | ||
| self.arming.main_b.set_low(); | ||
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| self.arming.drogue.set_low(); | ||
| self.arming.main_b.set_low(); | ||
| } |
Contributor
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Any reason to call self.arming.main_b.set_low(); and self.arming.main_b.set_high(); in rapid succession? like that?
drogue_b?
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| // --- Spawning Tasks --- | ||
| // spawner.must_spawn(led_blinker_task(p.PB14)); | ||
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| // spawner.must_spawn(uart_dma_reader_task(ring_rx)); | ||
| // spawner.must_spawn(uart_gps_dma_reader_task(ring_gps_rx, gps_tx)); | ||
| // spawner.must_spawn(sbg_parser_task(tx)); | ||
| // spawner.must_spawn(sbg_receiver_task()); | ||
| // spawner.must_spawn(baro_reader_task(baro)); | ||
| // spawner.must_spawn(ai_task()); | ||
| // pass control of the spawner to the state machine | ||
| // spawner.must_spawn(sm_task(spawner, state_machine)); | ||
| spawner.must_spawn(radio_reader_task(radio_ring_rx)); | ||
| spawner.must_spawn(radio_writer_task(radio_tx)); |
Contributor
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Why not uncomment and use #[cfg(feature = "gps")], sbg, baro etc? Just set the default features being all the ones we will be using.
If you want to make experiments just use cargo run --features "gps-ublox" (or gps-nmea) etc
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