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events: rewrite how sensor statuses are reported, and implement some oled UI icons for it

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This commit is contained in:
Victoria Fischer
2025-11-08 12:04:22 +01:00
parent a36fe3d1ac
commit 092885f163
24 changed files with 845 additions and 111 deletions
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5
src/tasks/mpu.rs
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@@ -31,7 +31,6 @@ fn gyro_raw_to_rads(raw: i16) -> f32 {
#[esp_hal::ram(rtc_fast, persistent)]
static mut MPU_WAS_CALIBRATED: u8 = 0;
//static mut MPU_CALIBRATION: Option<(Accel, Gyro)> = None;
#[embassy_executor::task]
pub async fn mpu_task(events: DynamicSender<'static, Measurement>, bus: I2cDevice<'static, CriticalSectionRawMutex, I2c<'static, Async>>) {
@@ -39,6 +38,7 @@ pub async fn mpu_task(events: DynamicSender<'static, Measurement>, bus: I2cDevic
let busref = RefCell::new(Some(bus));
backoff.forever().attempt::<_, (), ()>(async || {
events.send(Measurement::SensorHardwareStatus(SensorSource::IMU, crate::events::SensorState::Offline)).await;
let mut sensor = backoff.forever().attempt(async || {
warn!("Initializing connection to MPU");
match Mpu6050::new(busref.replace(None).unwrap(), Address::default()).await.map_err(|e| { e.i2c }) {
@@ -47,6 +47,7 @@ pub async fn mpu_task(events: DynamicSender<'static, Measurement>, bus: I2cDevic
Err(())
},
Ok(mut sensor) => {
events.send(Measurement::SensorHardwareStatus(SensorSource::IMU, crate::events::SensorState::AcquiringFix)).await;
match backoff.attempt(async || { mpu_init(&mut sensor).await }).await {
Err(_) => {
busref.replace(Some(sensor.release()));
@@ -60,7 +61,7 @@ pub async fn mpu_task(events: DynamicSender<'static, Measurement>, bus: I2cDevic
let sensor_ref = &mut sensor;
events.send(Measurement::SensorOnline(SensorSource::IMU)).await;
events.send(Measurement::SensorHardwareStatus(SensorSource::IMU, crate::events::SensorState::Online)).await;
//TODO: Need to read in a constant buffer of accelerometer measurements, which we can then use to determine where "forward" points in the body frame when converting from the sensor frame.
// From there, we can rotate the body frame into the world frame using gps headings to generate a compass north
fn lowpass(prev: f32, current: f32, alpha: f32) -> f32 {