mend
This commit is contained in:
Robert Schauklies
parent
7791c55969
commit
5f9e718f86
6 changed files with 177 additions and 62 deletions
135
spinnyboy_rust/Cargo.lock
generated
135
spinnyboy_rust/Cargo.lock
generated
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@ -40,6 +40,12 @@ dependencies = [
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"syn 2.0.111",
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]
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[[package]]
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name = "bitflags"
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version = "1.3.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
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[[package]]
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name = "bitflags"
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version = "2.10.0"
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@ -155,6 +161,38 @@ dependencies = [
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"syn 2.0.111",
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]
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[[package]]
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name = "defmt"
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version = "1.0.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "548d977b6da32fa1d1fda2876453da1e7df63ad0304c8b3dae4dbe7b96f39b78"
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dependencies = [
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"bitflags 1.3.2",
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"defmt-macros",
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]
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[[package]]
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name = "defmt-macros"
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version = "1.0.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "3d4fc12a85bcf441cfe44344c4b72d58493178ce635338a3f3b78943aceb258e"
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dependencies = [
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"defmt-parser",
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"proc-macro-error2",
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"proc-macro2",
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"quote",
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"syn 2.0.111",
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]
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[[package]]
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name = "defmt-parser"
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version = "1.0.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "10d60334b3b2e7c9d91ef8150abfb6fa4c1c39ebbcf4a81c2e346aad939fee3e"
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dependencies = [
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"thiserror",
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]
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[[package]]
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name = "delegate"
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version = "0.13.5"
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@ -227,7 +265,7 @@ dependencies = [
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"embedded-io-async 0.6.1",
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"futures-sink",
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"futures-util",
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"heapless",
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"heapless 0.8.0",
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]
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[[package]]
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@ -241,7 +279,7 @@ dependencies = [
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"embedded-io-async 0.6.1",
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"futures-core",
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"futures-sink",
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"heapless",
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"heapless 0.8.0",
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]
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[[package]]
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@ -366,6 +404,23 @@ dependencies = [
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"rlsf",
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]
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[[package]]
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name = "esp-backtrace"
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version = "0.18.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "3318413fb566c7227387f67736cf70cd74d80a11f2bb31c7b95a9eb48d079669"
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dependencies = [
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"cfg-if",
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"defmt",
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"document-features",
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"esp-config",
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"esp-metadata-generated",
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"esp-println",
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"heapless 0.9.2",
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"riscv",
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"xtensa-lx",
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]
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[[package]]
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name = "esp-bootloader-esp-idf"
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version = "0.4.0"
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@ -403,7 +458,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "54786287c0a61ca0f78cb0c338a39427551d1be229103b4444591796c579e093"
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dependencies = [
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"bitfield",
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"bitflags",
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"bitflags 2.10.0",
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"bytemuck",
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"cfg-if",
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"critical-section",
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@ -469,6 +524,18 @@ version = "0.3.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "9a93e39c8ad8d390d248dc7b9f4b59a873f313bf535218b8e2351356972399e3"
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[[package]]
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name = "esp-println"
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version = "0.16.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "5a30e6c9fbcc01c348d46706fef8131c7775ab84c254a3cd65d0cd3f6414d592"
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dependencies = [
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"document-features",
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"esp-metadata-generated",
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"esp-sync",
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"log",
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]
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[[package]]
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name = "esp-riscv-rt"
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version = "0.13.0"
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@ -662,6 +729,16 @@ dependencies = [
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"stable_deref_trait",
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]
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[[package]]
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name = "heapless"
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version = "0.9.2"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "2af2455f757db2b292a9b1768c4b70186d443bcb3b316252d6b540aec1cd89ed"
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dependencies = [
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"hash32",
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"stable_deref_trait",
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]
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[[package]]
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name = "heck"
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version = "0.5.0"
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@ -742,6 +819,12 @@ version = "0.2.178"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "37c93d8daa9d8a012fd8ab92f088405fb202ea0b6ab73ee2482ae66af4f42091"
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[[package]]
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name = "libm"
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version = "0.2.15"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f9fbbcab51052fe104eb5e5d351cf728d30a5be1fe14d9be8a3b097481fb97de"
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[[package]]
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name = "linked_list_allocator"
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version = "0.10.5"
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@ -788,6 +871,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "071dfc062690e90b734c0b2273ce72ad0ffa95f0c74596bc250dcfd960262841"
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dependencies = [
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"autocfg",
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"libm",
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]
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[[package]]
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@ -841,6 +925,28 @@ dependencies = [
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"toml_edit",
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]
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[[package]]
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name = "proc-macro-error-attr2"
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version = "2.0.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "96de42df36bb9bba5542fe9f1a054b8cc87e172759a1868aa05c1f3acc89dfc5"
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dependencies = [
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"proc-macro2",
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"quote",
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]
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[[package]]
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name = "proc-macro-error2"
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version = "2.0.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "11ec05c52be0a07b08061f7dd003e7d7092e0472bc731b4af7bb1ef876109802"
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dependencies = [
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"proc-macro-error-attr2",
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"proc-macro2",
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"quote",
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"syn 2.0.111",
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]
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[[package]]
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name = "proc-macro2"
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version = "1.0.103"
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@ -1028,9 +1134,12 @@ name = "spinnyboy_rust"
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version = "0.1.0"
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dependencies = [
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"critical-section",
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"embedded-hal 1.0.0",
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"esp-alloc",
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"esp-backtrace",
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"esp-bootloader-esp-idf",
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"esp-hal",
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"num-traits",
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"rtt-target",
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]
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@ -1111,6 +1220,26 @@ dependencies = [
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"winapi-util",
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]
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[[package]]
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name = "thiserror"
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version = "2.0.17"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f63587ca0f12b72a0600bcba1d40081f830876000bb46dd2337a3051618f4fc8"
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dependencies = [
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"thiserror-impl",
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]
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[[package]]
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name = "thiserror-impl"
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version = "2.0.17"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "3ff15c8ecd7de3849db632e14d18d2571fa09dfc5ed93479bc4485c7a517c913"
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dependencies = [
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"proc-macro2",
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"quote",
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"syn 2.0.111",
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]
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[[package]]
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name = "toml_datetime"
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version = "0.7.5+spec-1.1.0"
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@ -14,12 +14,13 @@ esp-hal = { version = "1.0.0", features = ["esp32c6", "unstable"] }
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esp-bootloader-esp-idf = { version = "0.4.0", features = ["esp32c6"] }
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critical-section = "1.2.0"
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critical-section = {version = "1.2.0"}
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esp-alloc = "0.9.0"
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rtt-target = "0.6.2"
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embedded-hal = "1.0.0"
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esp-backtrace = {version = "0.18.1",features = ["esp32c6","defmt"]}
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#esp-hal-dshot = {version = "0.3.1",default-features = false ,features = ["esp32c6"]}
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num-traits = { version = "0.2.19", default-features = false, features = ["libm"] }
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[profile.dev]
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# Rust debug is too slow.
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@ -2,7 +2,7 @@
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use esp_hal::{
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delay::Delay,
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gpio::Level,
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rmt::{PulseCode, Tx,Rx,TxChannelCreator,Channel},
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rmt::{Channel, PulseCode, Rx, Tx, TxChannelCreator},
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};
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use num_traits::float::FloatCore;
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@ -112,19 +112,18 @@ impl DShotSpeed {
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}
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#[allow(dead_code)]
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#[derive(Debug, Clone)]
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#[derive(Debug)]
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pub struct DShot<'a> {
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rx_channel:&'a Channel<'a,esp_hal::Blocking,esp_hal::rmt::Rx>,
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tx_channel:&'a Channel<'a,esp_hal::Blocking,esp_hal::rmt::Tx>,
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rx_channel: &'a mut Channel<'static, esp_hal::Blocking, esp_hal::rmt::Rx>,
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tx_channel: &'a mut Channel<'static, esp_hal::Blocking, esp_hal::rmt::Tx>,
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speed: DShotSpeed,
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bit_ticks: BitTicks,
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}
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impl<'a> DShot<'a> {
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pub fn new(
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rx_channel:&'a Channel<'a,esp_hal::Blocking,esp_hal::rmt::Rx>,
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tx_channel: &'a Channel<'a,esp_hal::Blocking,esp_hal::rmt::Tx>,
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rx_channel: &'a mut Channel<'static, esp_hal::Blocking, esp_hal::rmt::Rx>,
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tx_channel: &'a mut Channel<'static, esp_hal::Blocking, esp_hal::rmt::Tx>,
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speed: DShotSpeed,
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clk_speed: Option<u32>,
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clk_divider: Option<u8>,
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@ -134,7 +133,8 @@ impl<'a> DShot<'a> {
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let bit_ticks = BitTicks::from_clk(clk_speed, clk_divider, speed.bit_times());
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Self {
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rx_channel: rx_channel,tx_channel: tx_channel,
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rx_channel: rx_channel,
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tx_channel: tx_channel,
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speed,
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bit_ticks,
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}
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@ -166,14 +166,16 @@ impl<'a> DShot<'a> {
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self.bit_ticks.t1_h,
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Level::Low,
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self.bit_ticks.t1_l,
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).into()
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)
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.into()
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} else {
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PulseCode::new(
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Level::High,
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self.bit_ticks.t0_h,
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Level::Low,
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self.bit_ticks.t0_l,
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).into()
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)
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.into()
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};
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}
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@ -182,15 +184,15 @@ impl<'a> DShot<'a> {
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pulses
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}
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pub fn write_throttle(
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&mut self,
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throttle: u16,
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telemetry: bool,
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) -> Result<(), &'static str> {
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pub fn write_throttle(&mut self, throttle: u16, telemetry: bool) -> Result<(), &'static str> {
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let pulses = self.create_pulses(throttle, telemetry);
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self.channel
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let tx_chann = self.tx_channel.reborrow();
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let transaction = tx_chann
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.transmit(&pulses)
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.map_err(|_| "Failed to send frame")?;
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.unwrap_or(return Err("Failed to send frame"))
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.wait()
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.unwrap_or(return Err("Waiting failed!"));
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Ok(())
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}
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@ -7,7 +7,7 @@
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)]
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use core::fmt::Write;
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use alloc::string::ToString;
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use esp_hal::uart::{self, Config, Uart};
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use esp_hal::uart::{Config, Uart};
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use esp_hal::clock::CpuClock;
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use esp_hal::delay::Delay;
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@ -171,7 +171,6 @@ fn main() -> ! {
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// pwm_pin.set_timestamp(1000);
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// Timer::after_millis(1000).await;
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// }
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loop {
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rprintln!("Hello world!");
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delay.delay_millis(3000);
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