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rewrite esc controller: periodic process func

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This commit is contained in:
Serge Bazanski 2026-01-23 23:19:20 +01:00
parent fe8942575a
commit 06fd42430f
5 changed files with 78 additions and 113 deletions
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76
spinnyboy_rust/src/bin/main.rs
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@ -5,6 +5,7 @@
reason = "mem::forget is generally not safe to do with esp_hal types, especially those \
holding buffers for the duration of a data transfer."
)]
use alloc::boxed::Box;
use alloc::string::ToString;
use esp_hal::clock::CpuClock;
use esp_hal::delay::Delay;
@ -14,26 +15,21 @@ use esp_hal::uart::{Config, Uart};
use esp_hal::gpio::Event;
use esp_hal::gpio::{Input, InputConfig};
use esp_hal::handler;
use esp_hal::mcpwm::operator::PwmPinConfig;
use esp_hal::mcpwm::timer::PwmWorkingMode;
use esp_hal::rmt::{Rmt, TxChannelConfig, TxChannelCreator};
use esp_hal::time::Rate;
use core::cell::RefCell;
use core::mem::forget;
use critical_section::Mutex;
use esp_backtrace as _;
use esp_hal::time::{Duration, Instant};
use esp_hal::timer::timg::TimerGroup;
use rtt_target::rprintln;
mod dc_driver;
mod peripherals;
use dc_driver::afroesc::AfroEsc;
use peripherals::nextion::Nextion;
//DSHOT via rmt!
use dc_driver::dshot::DShot;
use dc_driver::dshot::DShotSpeed;
use crate::dc_driver::dshot;
@ -57,9 +53,6 @@ const DEFAULT_SPIN_TIME: u32 = 10;
// 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!();
use crate::peripherals::Command;
use esp_hal::gpio::Level;
use esp_hal::gpio::Output;
use esp_hal::gpio::OutputConfig;
#[main]
fn main() -> ! {
@ -69,29 +62,15 @@ fn main() -> ! {
let config = esp_hal::Config::default().with_cpu_clock(CpuClock::max());
let peripherals = esp_hal::init(config);
let system = peripherals.SYSTEM;
let mut delay = Delay::new();
let delay = Delay::new();
esp_alloc::heap_allocator!(#[esp_hal::ram(reclaimed)] size: 65536);
let clock_config =
esp_hal::mcpwm::PeripheralClockConfig::with_frequency(Rate::from_mhz(32)).unwrap();
let mut mcpwm = esp_hal::mcpwm::McPwm::new(peripherals.MCPWM0, clock_config);
mcpwm.operator0.set_timer(&mcpwm.timer0);
let mut pwm_pin = mcpwm
.operator0
.with_pin_a(peripherals.GPIO18, PwmPinConfig::UP_ACTIVE_HIGH);
let timer_clock_cfg = clock_config
.timer_clock_with_frequency(19_999, PwmWorkingMode::Increase, Rate::from_hz(50))
.unwrap();
mcpwm.timer0.start(timer_clock_cfg);
//setup RMT
let freq = Rate::from_mhz(80);
let rmt = Rmt::new(peripherals.RMT, freq).expect("CAN NOT SET FREQUENCY");
let rx_config = RxChannelConfig::default().with_clk_divider(1);
let tx_config = TxChannelConfig::default().with_clk_divider(1);
let mut toggle_pin = Output::new(peripherals.GPIO2, Level::Low, OutputConfig::default());
let mut tx_channel = rmt
.channel0
.configure_tx(peripherals.GPIO23, tx_config)
@ -100,20 +79,24 @@ fn main() -> ! {
.channel3
.configure_rx(peripherals.GPIO14, rx_config)
.unwrap();
let mut dshot_esc = dshot::DShot::new(
let dshot_esc = dshot::DShot::new(
&mut rx_channel,
&mut tx_channel,
DShotSpeed::DShot600,
Some(80_000_000),
Some(1),
);
rprintln!("SENDING RMT");
let dshot_esc = Box::new(dshot_esc);
let dshot_esc = Box::leak(dshot_esc);
//dshot_esc.arm(&delay).unwrap();
dshot_esc.arm();
loop {
delay.delay_millis(1000);
toggle_pin.set_high();
dshot_esc.write_throttle(2047, true);
toggle_pin.set_low();
dshot_esc.process();
dshot_esc.set_throttle(200);
}
// rprintln!("RMT SENT!");
// let mut esc = AfroEsc::new(&mut pwm_pin);;
// esc.set_timestamp(1000);
@ -149,8 +132,8 @@ fn main() -> ! {
let mut display = Nextion::new(&mut uart0);
display.send_command(b"page page0");
let mut rpm = DEFAULT_TARGET_RPM;
let mut timer = DEFAULT_SPIN_TIME;
let mut _rpm = DEFAULT_TARGET_RPM;
let mut _timer = DEFAULT_SPIN_TIME;
let mut started = false;
loop {
if display.read_ready() {
@ -169,11 +152,11 @@ fn main() -> ! {
}
Ok(Command::SetRpm(x)) => {
rprintln!("SET_RPM with {}", x);
rpm = x;
_rpm = x;
}
Ok(Command::SetTimer(x)) => {
rprintln!("SETTING TIMER {}", x);
timer = x;
_timer = x;
}
Ok(Command::SendConfig) => {
rprintln!("SEND CONFIG");
@ -193,30 +176,7 @@ fn main() -> ! {
// spincoater.armed();
rprintln!("STARTING!")
}
//display.send_command(b"page page0");
//uart0.write(b"page page0\xff\xff\xff");
}
// Example: Ramp from 0% to 50% throttle
//the afro esc starts turning at roughly setup gets a PWM at
//loop{
// for pulse in 1120..1500 {
// rprintln!("pulse:{}",pulse);
// pwm_pin.set_timestamp(pulse);
// Timer::after_millis(3000).await;
// }
// Timer::after_millis(1000).await;
// // Return to idle
// pwm_pin.set_timestamp(1000);
// Timer::after_millis(1000).await;
// }
loop {
rprintln!("Hello world!");
delay.delay_millis(3000);
}
// for inspiration have a look at the examples at https://github.com/esp-rs/esp-hal/tree/esp-hal-v1.0.0/examples/src/bin
}
#[handler]
@ -224,7 +184,7 @@ fn main() -> ! {
fn handler() {
critical_section::with(|cs| {
let mut binding = EMERGENCY_BUTTON.borrow_ref_mut(cs);
let mut button = binding.as_mut().unwrap();
let button = binding.as_mut().unwrap();
if button.is_interrupt_set() {
// do the thing
rprintln!("BUTTON1 WAS PRESSED!");