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main: use a noop mutex with i2c

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This commit is contained in:
Victoria Fischer
2025-12-24 09:12:08 +01:00
parent 046406291a
commit 2eebdc5837
3 changed files with 8 additions and 8 deletions
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4
src/bin/main.rs
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@@ -100,9 +100,9 @@ async fn main(spawner: Spawner) {
{
use embassy_embedded_hal::shared_bus::asynch::i2c::I2cDevice;
use esp_hal::{i2c::master::{Config, I2c}, Async};
use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, mutex::Mutex};
use embassy_sync::{blocking_mutex::raw::NoopRawMutex, mutex::Mutex};
static I2C_BUS: StaticCell<Mutex<CriticalSectionRawMutex, I2c<'static, Async>>> = StaticCell::new();
static I2C_BUS: StaticCell<Mutex<NoopRawMutex, I2c<'static, Async>>> = StaticCell::new();
info!("Launching i2c sensor tasks");
let sda = peripherals.GPIO4;

5
src/tasks/gps.rs
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@@ -1,6 +1,6 @@
use alloc::string::String;
use embassy_embedded_hal::shared_bus::asynch::i2c::I2cDevice;
use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, channel::DynamicSender};
use embassy_sync::{blocking_mutex::raw::NoopRawMutex, channel::DynamicSender};
use embassy_time::Timer;
use embedded_hal_async::i2c::I2c as _;
use esp_hal::{i2c::master::I2c, Async};
@@ -12,7 +12,7 @@ use crate::{backoff::Backoff, events::{Measurement, SensorSource, SensorState}};
// FIXME: We need a way to put the GPS to sleep when the system goes to sleep
#[embassy_executor::task]
pub async fn gps_task(events: DynamicSender<'static, Measurement>, mut i2c_bus: I2cDevice<'static, CriticalSectionRawMutex, I2c<'static, Async>>) {
pub async fn gps_task(events: DynamicSender<'static, Measurement>, mut i2c_bus: I2cDevice<'static, NoopRawMutex, I2c<'static, Async>>) {
Backoff::from_secs(5).forever().attempt::<_, (), ()>(async || {
events.send(Measurement::SensorHardwareStatus(SensorSource::GPS, SensorState::Offline)).await;
Backoff::from_secs(5).forever().attempt(async || {
@@ -41,7 +41,6 @@ pub async fn gps_task(events: DynamicSender<'static, Measurement>, mut i2c_bus:
let mut parsing = false;
let mut has_lock = false;
events.send(Measurement::SensorHardwareStatus(SensorSource::GPS, SensorState::Online)).await;
events.send(Measurement::SensorHardwareStatus(SensorSource::Location, SensorState::AcquiringFix)).await;
info!("GPS is ready!");
loop {
let mut buf = [0; 1];

7
src/tasks/mpu.rs
View File

@@ -1,7 +1,8 @@
use core::cell::RefCell;
use embassy_embedded_hal::shared_bus::asynch::i2c::I2cDevice;
use embassy_sync::{blocking_mutex::raw::CriticalSectionRawMutex, channel::DynamicSender};
use embassy_sync::blocking_mutex::raw::NoopRawMutex;
use embassy_sync::channel::DynamicSender;
use embassy_time::{Delay, Timer, Instant};
use esp_hal::{i2c::master::I2c, Async};
use log::*;
@@ -33,7 +34,7 @@ fn gyro_raw_to_rads(raw: i16) -> f32 {
static mut MPU_WAS_CALIBRATED: u8 = 0;
#[embassy_executor::task]
pub async fn mpu_task(events: DynamicSender<'static, Measurement>, bus: I2cDevice<'static, CriticalSectionRawMutex, I2c<'static, Async>>) {
pub async fn mpu_task(events: DynamicSender<'static, Measurement>, bus: I2cDevice<'static, NoopRawMutex, I2c<'static, Async>>) {
let backoff = Backoff::from_millis(5);
let busref = RefCell::new(Some(bus));
@@ -111,7 +112,7 @@ pub async fn mpu_task(events: DynamicSender<'static, Measurement>, bus: I2cDevic
}).await.ok();
}
async fn mpu_init(sensor: &mut Mpu6050<I2cDevice<'static, CriticalSectionRawMutex, I2c<'static, Async>>>) -> Result<(), Error<I2cDevice<'static, CriticalSectionRawMutex, I2c<'static, Async>>>> {
async fn mpu_init(sensor: &mut Mpu6050<I2cDevice<'static, NoopRawMutex, I2c<'static, Async>>>) -> Result<(), Error<I2cDevice<'static, NoopRawMutex, I2c<'static, Async>>>> {
if cfg!(feature="wokwi") {
warn!("Initializing simulated MPU");
Ok(())