Fixed up nostd support, verified that sqrt and cbrt routines work to within 1ULP

firmware/film-scanner-fw/.cargo/config.toml

@@ -20,7 +20,7 @@ rustflags = [
 ]
 
 [build]
-target = "thumbv7em-none-eabihf"
+target = "thumbv6m-none-eabi"
 
 [env]
 DEFMT_LOG = "debug"

firmware/film-scanner-fw/src/main.rs

@@ -15,8 +15,10 @@ mod app {
     use core::num::Wrapping;
     use embedded_hal::digital::v2::OutputPin;
     use embedded_time::duration::Extensions;
+    use jerk_control::executor::CommandQueue;
+    use jerk_control::planner::Planner;
 
-    use rp_pico::hal;
+    use rp_pico::hal::{self, gpio::pin::{Output, PushPull, PullDownDisabled, Pin}};
     use rp_pico::pac;
     use rp_pico::XOSC_CRYSTAL_FREQ;
     use rtic::mutex_prelude::{TupleExt04, TupleExt05};
@@ -69,11 +71,26 @@ mod app {
         pub active: bool,
     }
 
-    pub struct StepperProcess<Pin> {
+    pub struct StepperProcess<StepPin, DirPin>
+    where StepPin: rp2040_hal::gpio::PinId,
+     DirPin: rp2040_hal::gpio::PinId {
         pub executor: executor::CommandQueue,
-        pub pin: Pin,
+        pub step: rp_pico::hal::gpio::Pin<StepPin, Output<PushPull>>,
+        pub dir: rp_pico::hal::gpio::Pin<DirPin, Output<PushPull>>,
     }
 
+    impl<StepPin, DirPin> StepperProcess<StepPin, DirPin>
+    where StepPin: rp2040_hal::gpio::PinId,
+     DirPin: rp2040_hal::gpio::PinId {
+         pub fn new(step: Pin<StepPin, PullDownDisabled>, dir: Pin<DirPin, PullDownDisabled>) -> Self {
+             Self {
+                 executor: CommandQueue::new(),
+                 step: step.into_push_pull_output(),
+                 dir: dir.into_push_pull_output(),
+             }
+         }
+     }
+
     #[shared]
     struct Shared {
 
@@ -89,9 +106,11 @@ mod app {
 
     }
 
+    use rp2040_hal::gpio::pin::bank0;
+
     #[local]
     struct Local {
-        executor1: StepperProcess<rp_pico::hal::gpio::Pin<hal::gpio::pin::bank0::>>,
+        executor1: StepperProcess<bank0::Gpio1, bank0::Gpio2>,
     }
 
     #[init(local = [usb_bus: Option<usb_device::bus::UsbBusAllocator<hal::usb::UsbBus>> = None])]
@@ -178,7 +197,9 @@ mod app {
                 serial,
                 usb_dev,
             },
-            Local {},
+            Local {
+                executor1: StepperProcess::new(pins.gpio1, pins.gpio2),
+            },
             init::Monotonics(),
         )
     }
@@ -188,9 +209,24 @@ mod app {
         binds = TIMER_IRQ_0,
         priority = 4,
         shared = [timer, alarm, serial],
-        local = [tog: bool = true],
+        local = [executor1],
     )]
     fn timer_irq(mut _cx: timer_irq::Context) {
+        let executor: &mut StepperProcess<_, _> = _cx.local.executor1;
+
+        if executor.executor.direction() {
+            executor.dir.set_high();
+        } else {
+            executor.dir.set_low();
+        }
+
+        if executor.executor.step_early() {
+            executor.step.set_high();
+        } else {
+            executor.step.set_low();
+        }
+
+        executor.executor.step_late();
     }
 
     /// Usb interrupt handler. Runs every time the host requests new data.