Takeru dev

.github/workflows/build-tof-software.yml

@@ -4,7 +4,6 @@ on:
   push:
     branches:
       - main
-      - takeru-dev
   pull_request:
 
 env:

Cargo.toml

@@ -1,13 +1,21 @@
 [package]
 name = "tof-control"
-version = "1.10.0"
+version = "1.11.0"
 edition = "2021"
 
 # See more keys and their definitions at https://doc.rust-lang.org/cargo/reference/manifest.html
 
 [profile.release]
 opt-level = "z"
 
+[[bin]]
+name = "liftof-rb-test"
+path = "src/bin/dev/liftof_rb_test.rs"
+
+[[bin]]
+name = "rb-info"
+path = "src/bin/dev/rb_info.rs"
+
 [[bin]]
 name = "calib-simulator"
 path = "src/bin/dev/calib_simulator.rs"

src/device/ad5675.rs

@@ -1,6 +1,5 @@
 #![allow(unused)]
 use crate::constant::*;
-use crate::rb_control::rb_dac::read_dac;
 
 use i2cdev::core::*;
 use i2cdev::linux::{LinuxI2CDevice, LinuxI2CMessage, LinuxI2CError};
@@ -32,13 +31,13 @@ impl AD5675 {
 
     pub fn read_dac(&self, channel: u8) -> Result<u16, LinuxI2CError> {
         let mut dev = LinuxI2CDevice::new(&format!("/dev/i2c-{}", self.bus), self.address)?;
+
+        let command_byte = READBACK_ENABLE | (channel & 0x0F);
+        let frame = [command_byte, 0x00, 0x00];
+        dev.write(&frame)?;
+
         let mut read_data = [0; 2];
-        let mut msgs = [
-            LinuxI2CMessage::write(&[READBACK_ENABLE+channel, 0x00, 0x00]),
-            LinuxI2CMessage::read(&mut read_data)
-        ];
-
-        dev.transfer(&mut msgs)?;
+        dev.read(&mut read_data)?;
 
         let dac_value = ((read_data[0] as u16 & 0xFF) << 8) | (read_data[1] as u16 & 0xFF);