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current working PoC

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This commit is contained in:
Robert Schauklies 2026-03-21 22:34:11 +01:00
parent c6db09ac2c
commit 05b07e5ee3
1 changed files with 14 additions and 14 deletions
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28
spinnyboy_rust/src/bin/main.rs
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@ -62,7 +62,7 @@ extern crate alloc;
//target RPM //target RPM
const DEFAULT_TARGET_RPM: u32 = 4000; const DEFAULT_TARGET_RPM: u32 = 4000;
//in seconds //in seconds
const DEFAULT_SPIN_TIME: u32 = 10; const DEFAULT_SPIN_TIME: u64 = 10;
// This creates a default app-descriptor required by the esp-idf bootloader. // This creates a default app-descriptor required by the esp-idf bootloader.
// For more information see: <https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-reference/system/app_image_format.html#application-description> // For more information see: <https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-reference/system/app_image_format.html#application-description>
esp_bootloader_esp_idf::esp_app_desc!(); esp_bootloader_esp_idf::esp_app_desc!();
@ -129,7 +129,7 @@ fn main() -> ! {
let loop_time = Duration::from_micros(10); let loop_time = Duration::from_micros(10);
let cfg = pid::PidConfigBuilder::default() let cfg = pid::PidConfigBuilder::default()
.kp(2.0) .kp(2.0)
.ki(0.0) .ki(0.4)
.output_limits(100.00, 400.00) .output_limits(100.00, 400.00)
.sample_time(loop_time) .sample_time(loop_time)
.filter_tc(0.1) .filter_tc(0.1)
@ -137,8 +137,6 @@ fn main() -> ! {
.expect("Failed to build a PID configuration"); .expect("Failed to build a PID configuration");
let controller = pid::FuncPidController::new(cfg); let controller = pid::FuncPidController::new(cfg);
let mut ctx = PidContext::new(Millis(0), 0.0, 0.0); let mut ctx = PidContext::new(Millis(0), 0.0, 0.0);
let set_point = DEFAULT_TARGET_RPM;
let mut rpm = 0;
let mut control: f32 = 200.0; let mut control: f32 = 200.0;
let mut timg0 = TimerGroup::new(peripherals.TIMG0); let mut timg0 = TimerGroup::new(peripherals.TIMG0);
let coat_timer = timg0.timer0; let coat_timer = timg0.timer0;
@ -177,8 +175,8 @@ fn main() -> ! {
let mut display = Nextion::new(&mut uart0); let mut display = Nextion::new(&mut uart0);
//we just set it to page0 to be sure //we just set it to page0 to be sure
display.send_command(b"page page0"); display.send_command(b"page page0");
let mut _rpm = DEFAULT_TARGET_RPM; let mut target_rpm = DEFAULT_TARGET_RPM;
let mut _timer = DEFAULT_SPIN_TIME; let mut timer:u64 = DEFAULT_SPIN_TIME;
let mut started = false; let mut started = false;
loop { loop {
if display.read_ready() { if display.read_ready() {
@ -198,11 +196,11 @@ fn main() -> ! {
} }
Ok(Command::SetRpm(x)) => { Ok(Command::SetRpm(x)) => {
rprintln!("SET_RPM with {}", x); rprintln!("SET_RPM with {}", x);
_rpm = x; target_rpm = x;
} }
Ok(Command::SetTimer(x)) => { Ok(Command::SetTimer(x)) => {
rprintln!("SETTING TIMER {}", x); rprintln!("SETTING TIMER {}", x);
_timer = x; timer = x as _;
} }
Ok(Command::SendConfig) => { Ok(Command::SendConfig) => {
rprintln!("SEND CONFIG"); rprintln!("SEND CONFIG");
@ -224,18 +222,20 @@ fn main() -> ! {
if started { if started {
rprintln!("STARTING!"); rprintln!("STARTING!");
let _ = coat_timer let _ = coat_timer
.load_value(esp_hal::time::Duration::from_secs(10)) .load_value(esp_hal::time::Duration::from_secs(timer))
.expect("TODO: Could not set timer for coating! "); .expect("TODO: Could not set timer for coating! ");
dshot_esc.arm(); dshot_esc.arm();
let mut rpm_fail_ctr = 0; let mut rpm_fail_ctr = 0;
let set_point = target_rpm;
coat_timer.start(); coat_timer.start();
let mut current_rpm = 0;
while !coat_timer.is_interrupt_set() { while !coat_timer.is_interrupt_set() {
dshot_esc.process(); dshot_esc.process();
//let control_val = dc_driver:: //let control_val = dc_driver::
//this bad boy needs floats, this will be fun :) //this bad boy needs floats, this will be fun :)
control = 200.00; control = 200.00;
dshot_esc.set_throttle(control as _); dshot_esc.set_throttle(control as _);
rpm = match dshot_esc.get_rpm() { current_rpm = match dshot_esc.get_rpm() {
Some(x) => { Some(x) => {
// rprintln!("GOT RPM {}", x); // rprintln!("GOT RPM {}", x);
x x
@ -243,7 +243,7 @@ fn main() -> ! {
None => { None => {
rpm_fail_ctr+=1; rpm_fail_ctr+=1;
// rprintln!("NO RPM!"); // rprintln!("NO RPM!");
rpm current_rpm
} }
}; };
// rprintln!("RPM:{}",rpm); // rprintln!("RPM:{}",rpm);
@ -253,12 +253,12 @@ fn main() -> ! {
.duration_since_epoch() .duration_since_epoch()
.as_millis(); .as_millis();
(control, ctx) = (control, ctx) =
controller.compute(ctx, rpm as _, set_point as _, Millis(timestamp), None); controller.compute(ctx, current_rpm as _, set_point as _, Millis(timestamp), None);
let dumped_context = ctx.last_time().expect("LAST TIME!"); let dumped_context = ctx.last_time().expect("LAST TIME!");
rprintln!("control:{},rpm:{}", control,rpm); rprintln!("control:{},rpm:{}", control,current_rpm);
//first we send the RPM! //first we send the RPM!
if display.write_ready(){ if display.write_ready(){
let running_rpm = format!("rpm.val={}", rpm); let running_rpm = format!("rpm.val={}", current_rpm);
display.send_command(running_rpm.to_string().as_bytes()); display.send_command(running_rpm.to_string().as_bytes());
} }
if display.write_ready(){ if display.write_ready(){