syd: siderial and moon tracker

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Command-line syd-siderial_tracker
Overview

syd

syd: siderial and moon tracker

This is code based on the 'minimal' template ca. 2022Q1 (RTIC 1.0). It drives a siderial tracker for the northern hemisphere that can run at three different speeds. It runs on a bluepill (stm32f103).

The geometry of the tracker is a rotating arm connected at the long end to a nut on a linear thread that is driven by a DC motor assembly. The DC motor has a quadrature encoder and is driven by an H-bridge using a PWM signal in a PID loop.

Main functions:

  • retract drive at start and when stalled if in tracking mode
  • set count based on time and tracking speed
  • allow user to select drive speed using on-off switch
  • feedback selected drive speed index on indicator LED

Great help for putting this together was given by the great folks at #rtic:matrix.org .

feedback on this code:

comment response
Move the math from f64 to f32, the MCU has HW support for f32 The reason I was using f64 is that 268E-30 term in the polynomial; but I may not have thought that through well. Will look into it.
Use cargo fmt :) Interesting; smart formatter. I'm on emacs. is 'cargo fmt' the same as 'rustfmt'?
Much of the "working code" in each task could be split out to modules, making the app much smaller.
You manually de-structure resources quite often, have a look https://rtic.rs/1.0/book/en/by-example/tips_destructureing.html
Some of your locks are quite large, try to reduce locks as much as possible to not hinder concurrency.
use 'cargo clippy' That is cool.
seems you have a workspace defined with 'testsuite' member but I see no such crate.
Use https://robert.kra.hn/posts/2021-02-07_rust-with-emacs/ (look into rust-analyzer) Interesting. Had to rustup update to get this running.
seems you have a workspace defined with testsuite member but I see no such crate.
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