yanorei32/hello-gm6020
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Fix for readability

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This commit is contained in:
yanorei32 2023-10-11 02:54:38 +09:00
parent bf82cfe6dc
commit 6ce8a12bf8
1 changed files with 17 additions and 18 deletions
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21
src/main.rs
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@ -14,7 +14,7 @@ mod app {
can::Can,
device::TIM2,
gpio::{Output, Pin},
pac::{CAN1, Interrupt},
pac::{Interrupt, CAN1},
prelude::*,
timer::Delay,
};
@ -105,26 +105,25 @@ mod app {
fn idle(cx: idle::Context) -> ! {
let mut tx_queue = cx.shared.can_tx_queue;
loop {
for sign in [1, -1] {
for speed in (0..=120)
.chain((0..40).map(|_| 120))
.chain((0..=120).map(|i| 120 - i))
for sign in [1, -1].iter().cycle() {
for speed in (0..=30_000)
.step_by(250)
.chain(core::iter::repeat(30_000).take(1000 / 25))
.chain((0..=30_000).step_by(250).map(|v| 30_000 - v))
.map(|v| v * sign)
{
tx_queue.lock(|mut tx_queue| {
enqueue_frame(
&mut tx_queue,
Frame::new_data(
StandardId::new(0x1FF).unwrap(),
speed2array(speed * 250 * sign),
),
Frame::new_data(StandardId::new(0x1FF).unwrap(), speed2array(speed)),
);
});
cx.local.delay.delay(25.millis());
}
}
}
unreachable!()
}
#[task(binds = USB_HP_CAN_TX, local = [can_tx, led], shared = [can_tx_queue, tx_count])]