Fix dht reading

Cargo.toml

@@ -22,6 +22,7 @@ pio-proc = "0.2.2"
 pio = "0.2.1"
 
 fixed = "1.23.1"
+fixed-macro = "1.2"
 
 [dev-dependencies]
 embassy-executor = { version = "0.5.0", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "integrated-timers"] }

example/rp_pico_dht22.rs

@@ -69,13 +69,13 @@ async fn main(spawner: Spawner) {
                 Err(err) => match err {
                     DhtError::Timeout => log::info!("dht timeout error"),
                     DhtError::CrcMismatch(data, crc) => {
-                        log::info!("dht checksum error:\ndata: {data}\ncrc:  {crc}");
+                        log::info!("dht checksum error:\ndata: {data:032b}\ncrc:  {crc:032b}");
                     }
                     DhtError::ReadError => log::info!("dht read error"),
                 },
             }
 
-            Timer::after_secs(3).await;
+            Timer::after_secs(1).await;
         }
     };
 

src/dht.rs

@@ -1,6 +1,9 @@
-use embassy_rp::pio::{Common, Config, Instance, PioPin, StateMachine};
+use embassy_rp::pio::{
+    Common, Config, Instance, PioPin, ShiftConfig, ShiftDirection, StateMachine,
+};
 use embassy_time::Timer;
 use fixed::traits::ToFixed;
+use fixed_macro::types::U56F8;
 use pio_proc::pio_file;
 
 use crate::DhtError;
@@ -24,8 +27,17 @@ impl<'d, PIO: Instance, const SM: usize> DhtPio<'d, PIO, SM> {
         config.set_out_pins(&[&pin]);
         config.set_set_pins(&[&pin]);
         config.set_in_pins(&[&pin]);
-        config.shift_in.threshold = 32;
-        config.clock_divider = 125.to_fixed();
+        config.shift_in = ShiftConfig {
+            threshold: 32,
+            direction: ShiftDirection::Left,
+            auto_fill: true,
+        };
+        config.shift_out = ShiftConfig {
+            threshold: 32,
+            direction: ShiftDirection::Left,
+            auto_fill: false,
+        };
+        config.clock_divider = (U56F8!(125_000_000) / 1_000_000).to_fixed();
         sm.set_config(&config);
 
         sm.set_pin_dirs(embassy_rp::pio::Direction::Out, &[&pin]);
@@ -65,10 +77,7 @@ impl<'d, PIO: Instance, const SM: usize> DhtPio<'d, PIO, SM> {
         let crc = raw[1].unwrap();
 
         if Self::compute_crc(data) != crc {
-            return Err(DhtError::CrcMismatch(
-                raw[0].unwrap_or(0),
-                raw[1].unwrap_or(0),
-            ));
+            return Err(DhtError::CrcMismatch(data, crc));
         }
 
         Ok((