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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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99
spinnyboy_rust/src/bin/dc_driver/dshot.rs
View file

@ -2,8 +2,9 @@
use esp_hal::{
delay::Delay,
gpio::Level,
rmt::{Channel, PulseCode, Rx, Tx, TxChannelCreator},
rmt::{Channel, PulseCode, SingleShotTxTransaction},
};
use core::cell::{Ref, RefCell};
use num_traits::float::FloatCore;
use rtt_target::{rprint, rprintln};
@ -49,7 +50,6 @@ impl BitTicks {
pub fn from_clk(
clk_speed: u32,
clk_divider: u8,
bit_times: BitTimes,
speed: DShotSpeed,
) -> Self {
let tick_len = (1. / clk_speed as f32) * (clk_divider as f32) * 1_000_000.;
@ -78,6 +78,7 @@ impl BitTimes {
}
#[derive(Debug, Clone, Copy)]
#[allow(dead_code)]
pub enum DShotSpeed {
DShot150,
DShot300,
@ -108,24 +109,18 @@ impl DShotSpeed {
Self::DShot1200 => BitTimes::new(0.625, 0.313),
}
}
/// These are for an 80 MHz clock with a clock divider setting of 1
pub fn default_bit_ticks(&self) -> BitTicks {
match &self {
Self::DShot150 => BitTicks::new(400, 200),
Self::DShot300 => BitTicks::new(200, 100),
Self::DShot600 => BitTicks::new(100, 50),
Self::DShot1200 => BitTicks::new(50, 25),
}
}
}
#[allow(dead_code)]
pub struct DShot<'a> {
rx_channel: &'a mut Channel<'static, esp_hal::Blocking, esp_hal::rmt::Rx>,
tx_channel: &'a mut Channel<'static, esp_hal::Blocking, esp_hal::rmt::Tx>,
speed: DShotSpeed,
bit_ticks: BitTicks,
pulses: RefCell<[u32; 17]>,
requested_throttle: RefCell<u16>,
current_tx: RefCell<Option<SingleShotTxTransaction<'a, 'a, u32>>>,
}
impl<'a> DShot<'a> {
@ -139,19 +134,17 @@ impl<'a> DShot<'a> {
) -> Self {
let clk_speed = clk_speed.unwrap_or(80_000_000);
let clk_divider = clk_divider.unwrap_or(1);
let bit_ticks = BitTicks::from_clk(clk_speed, clk_divider, speed.bit_times(), speed);
rprint!(
"bit_ticks.t1_h:{},t1_l:{},t0_h:{},t0_l{}",
bit_ticks.t1_h,
bit_ticks.t1_l,
bit_ticks.t0_h,
bit_ticks.t0_l
);
let bit_ticks = BitTicks::from_clk(clk_speed, clk_divider, speed);
let txc = tx_channel.reborrow().transmit(&[0u32]).unwrap();
Self {
rx_channel: rx_channel,
tx_channel: tx_channel,
speed,
bit_ticks,
pulses: RefCell::new([0u32; 17]),
requested_throttle: RefCell::new(0),
current_tx: RefCell::new(Some(txc)),
}
}
@ -169,16 +162,13 @@ impl<'a> DShot<'a> {
}
#[allow(clippy::needless_range_loop)]
pub fn create_pulses(&mut self, throttle_value: u16, telemetry: bool) -> [u32; 17] {
pub fn create_pulses(&self, throttle_value: u16, telemetry: bool) -> [u32; 17] {
let frame = Self::create_frame(throttle_value, telemetry);
let mut pulses = [0; 17];
rprintln!("CREATING NEW FRAME!");
rprintln!("--------------------");
for i in 0..16 {
let bit = (frame >> (15 - i)) & 1;
pulses[i] = if bit == 1 {
rprint!("1");
PulseCode::new(
Level::High,
self.bit_ticks.t1_h,
@ -187,7 +177,6 @@ impl<'a> DShot<'a> {
)
.into()
} else {
rprint!("0");
PulseCode::new(
Level::High,
self.bit_ticks.t0_h,
@ -197,31 +186,57 @@ impl<'a> DShot<'a> {
.into()
};
}
rprintln!("");
rprintln!("--------------------");
pulses[16] = 0;
pulses
}
pub fn write_throttle(&mut self, throttle: u16, telemetry: bool) -> Result<(), &'static str> {
let pulses = self.create_pulses(throttle, telemetry);
let tx_chann = self.tx_channel.reborrow();
let transaction = tx_chann
.transmit(&pulses)
.unwrap_or(return Err("Failed to send frame"))
.wait()
.unwrap_or(return Err("Waiting failed!"));
pub fn process(&'a self) {
let mut rc = self.current_tx.borrow_mut();
if let Some(current) = rc.as_mut() {
if current.poll() {
// Schedule new transaction
let tx_chann = rc.take().unwrap().wait().unwrap();
let mut pulses = self.pulses.borrow_mut();
let throttle = self.requested_throttle.borrow();
*pulses = self.create_pulses(*throttle, false);
let pulses = pulses.as_ref();
// SAFETY: eat shit, rust
let pulses = unsafe {
core::mem::transmute(pulses)
};
let m = tx_chann
.transmit(pulses)
.unwrap();
Ok(())
//self.current_tx = Some(m);
*rc = Some(m);
}
} else {
// Nothing to do, twiddle our thumbs.
}
}
pub fn arm(&mut self, delay: &mut Delay) -> Result<(), &'static str> {
for _ in 0..100 {
self.write_throttle(0, false)?;
delay.delay_millis(50);
pub fn set_throttle(&self, v: u16) {
*self.requested_throttle.borrow_mut() = v;
}
#[allow(dead_code)]
pub fn arm(&'a self) -> Result<(), &'static str> {
let start = esp_hal::time::Instant::now();
rprintln!("ARM: Sending pre-throttle...");
while start.elapsed().as_secs() < 2 {
self.set_throttle(100);
self.process();
}
rprintln!("ARM: Sending 0...");
while start.elapsed().as_secs() < 4 {
self.set_throttle(0);
self.process();
}
rprintln!("ARM: Done.");
Ok(())
}
}

13
spinnyboy_rust/src/bin/dc_driver/mod.rs
View file

@ -1,13 +1,2 @@
pub mod afroesc;
//pub mod afroesc;
pub mod dshot;
pub enum EscState {
Starting,
Running,
Stopping,
Stop,
}
//taken from: https://docs.arduino.cc/language-reference/en/functions/math/map/
//used for the ramp up of the spincoater
pub fn arduino_map(x: i32, in_min: i32, in_max: i32, out_min: i32, out_max: i32) -> i32 {
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}

76
spinnyboy_rust/src/bin/main.rs
View file

@ -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!");

1
spinnyboy_rust/src/bin/peripherals/mod.rs
View file

@ -11,5 +11,6 @@ pub enum Command {
#[derive(Debug)]
pub enum ErrCommand {
NoValidCmd,
#[allow(dead_code)]
ReadError,
}

2
spinnyboy_rust/src/bin/peripherals/nextion.rs
View file

@ -97,7 +97,7 @@ impl<'a> Nextion<'a> {
let mut buf: [u8; 8] = [0; 8];
let _read_bytes = match self.read_frame(&mut buf) {
Ok(x) => x,
Err(e) => {
Err(_e) => {
rprintln!("ERROR while reading");
return Err(ErrCommand::NoValidCmd);
}