Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Reduce update when angle not changing and sleep esp modem #203

Open
wants to merge 6 commits into
base: main
Choose a base branch
from
Open

Reduce update when angle not changing and sleep esp modem #203

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
6 commits
Select commit Hold shift + click to select a range
639a6e7
Reduce update when angle not changing
nekomona Jun 29, 2023
e35b0b2
Fix missing dependency
nekomona Jun 29, 2023
2484dfc
Update firmware/Cargo.toml
TheButlah Jun 30, 2023
2f9afbd
Add modem sleep to save 40% power at idle
nekomona Jun 30, 2023
21fae5f
Merge remote-tracking branch 'nekomona/optim-updates' into optim-updates
nekomona Jun 30, 2023
617d7c3
Fix fmt
nekomona Jun 30, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 2 additions & 0 deletions firmware/Cargo.toml
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -167,6 +167,7 @@ esp-wifi = { git = "https://github.com/esp-rs/esp-wifi.git", rev = "76ba312", fe
"embedded-svc",
"wifi",
"embassy-net",
"ps-min-modem",
], optional = true }
smoltcp = { version = "0.9", default-features = false, features = [
], optional = true }
Expand Down Expand Up @@ -213,6 +214,7 @@ nalgebra = { version = "0.31", default-features = false, features = [
"macros",
"libm",
] }
approx = "0.5.1"
fugit = "0.3"
firmware_protocol = { path = "../networking/firmware_protocol", features = [
"nalgebra031",
Expand Down
7 changes: 6 additions & 1 deletion firmware/src/imu/mod.rs
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,6 +1,7 @@
mod drivers;
mod fusion;

use approx::AbsDiffEq;
use defmt::{debug, info, trace, warn};
use embassy_executor::task;
use firmware_protocol::ImuType;
Expand Down Expand Up @@ -46,6 +47,7 @@ pub async fn imu_task(
info!("Initialized IMU!");

let mut i = 0;
let mut prev_q = Quat::identity();
loop {
let q = match imu.next_data().await {
Ok(q) => q.q,
Expand All @@ -64,7 +66,10 @@ pub async fn imu_task(
);
}
i += 1;
quat_signal.signal(q);
if !q.abs_diff_eq(&prev_q, 0.0001) {
prev_q = q;
quat_signal.signal(q);
}
}
}

Expand Down