diff --git a/src/bin/dual-iir.rs b/src/bin/dual-iir.rs index c4ef154..e8f12a0 100644 --- a/src/bin/dual-iir.rs +++ b/src/bin/dual-iir.rs @@ -103,7 +103,7 @@ const APP: () = { stabilizer.dacs.1.start(); // Start sampling ADCs. - //stabilizer.adc_dac_timer.start(); + stabilizer.adc_dac_timer.start(); c.schedule.telemetry(c.start).unwrap(); @@ -231,16 +231,16 @@ const APP: () = { // Serialize telemetry outside of a critical section to prevent blocking the processing // task. - let _telemetry = miniconf::serde_json_core::to_string::< + let telemetry = miniconf::serde_json_core::to_string::< heapless::consts::U256, _, >(&telemetry) .unwrap(); - //c.resources.mqtt_interface.client(|client| { - // // TODO: Incorporate current MQTT prefix instead of hard-coded value. - // client.publish("dt/sinara/dual-iir/telemetry", telemetry.as_bytes(), minimq::QoS::AtMostOnce, &[]).ok() - //}); + c.resources.mqtt_interface.client(|client| { + // TODO: Incorporate current MQTT prefix instead of hard-coded value. + client.publish("dt/sinara/dual-iir/telemetry", telemetry.as_bytes(), minimq::QoS::AtMostOnce, &[]).ok() + }); // Schedule the telemetry task in the future. c.schedule diff --git a/src/hardware/system_timer.rs b/src/hardware/system_timer.rs index 85938ba..b964a67 100644 --- a/src/hardware/system_timer.rs +++ b/src/hardware/system_timer.rs @@ -10,14 +10,14 @@ impl SystemTimer { timer.pause(); // Have the system timer operate at a tick rate of 10KHz (100uS per tick). With this // configuration and a 65535 period, we get an overflow once every 6.5 seconds. - timer.set_tick_freq(10.khz()); + timer.set_tick_freq(1.mhz()); timer.apply_freq(); timer.resume(); } pub fn ticks_from_secs(secs: u32) -> i32 { - (secs * 10_000) as i32 + (secs * 1_000_000) as i32 } } @@ -27,7 +27,7 @@ impl rtic::Monotonic for SystemTimer { fn ratio() -> rtic::Fraction { rtic::Fraction { numerator: 1, - denominator: 40000, + denominator: 400, } }