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modified dshot to skip to strip till the first negative edge is found in a hacky way

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This commit is contained in:
Robert Schauklies 2026-02-24 21:44:29 +01:00
parent 65761b3f7d
commit 290d157d4c
2 changed files with 37 additions and 22 deletions
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6
spinnyboy_rust/src/bin/dc_driver/dshot.rs
View file

@ -322,9 +322,9 @@ impl<'a> DShot<'a> {
// eRPM = (60*1000 000)/T_us next RPM can be achived -> RPM = eRPM/(poles/2): // eRPM = (60*1000 000)/T_us next RPM can be achived -> RPM = eRPM/(poles/2):
let rpm = (((erpm))/((XING_EPRO_22_COILS))); let rpm = (((erpm))/((XING_EPRO_22_COILS)));
rprintln!("RPM: {}", rpm); // rprintln!("RPM: {}", rpm);
rprintln!("ERPM: {}", erpm); // rprintln!("ERPM: {}", erpm);
rprintln!("period_ms: {}", period_ms); // rprintln!("period_ms: {}", period_ms);
self.rpm.set(Some(rpm)) self.rpm.set(Some(rpm))
} }
} }

51
spinnyboy_rust/src/bin/main.rs
View file

@ -17,12 +17,13 @@ use esp_hal::gpio::{Input, InputConfig};
use esp_hal::handler; use esp_hal::handler;
use esp_hal::rmt::{Rmt, TxChannelConfig, TxChannelCreator}; use esp_hal::rmt::{Rmt, TxChannelConfig, TxChannelCreator};
use esp_hal::time::{ Instant, Rate}; use esp_hal::time::{ Instant, Rate};
use core::fmt::Debug;
//pid-controller //pid-controller
use core::time::Duration; use core::time::Duration;
use discrete_pid::pid::FuncPidController;
use discrete_pid::pid::PidContext; use discrete_pid::pid::PidContext;
use discrete_pid::time::Millis; use discrete_pid::time::Millis;
use discrete_pid::{pid, time}; use discrete_pid::{pid, time};
use discrete_pid::time::InstantLike;
use core::cell::RefCell; use core::cell::RefCell;
use core::mem::forget; use core::mem::forget;
@ -60,6 +61,22 @@ const DEFAULT_SPIN_TIME: u32 = 10;
esp_bootloader_esp_idf::esp_app_desc!(); esp_bootloader_esp_idf::esp_app_desc!();
use crate::peripherals::Command; use crate::peripherals::Command;
#[derive(Copy, Clone)]
struct Time {
sec: i32,
nsec: i32,
}
impl InstantLike for Time {
fn duration_since(&self, other: Self) -> Duration {
let sec = self.sec - other.sec;
let nsec = self.nsec - other.nsec;
Duration::new(sec as u64, nsec as u32)
}
}
#[main] #[main]
fn main() -> ! { fn main() -> ! {
// generator version: 1.0.1 // generator version: 1.0.1
@ -104,29 +121,26 @@ fn main() -> ! {
//dshot_esc.arm(&delay).unwrap(); //dshot_esc.arm(&delay).unwrap();
//PID-Controller //PID-Controller
let loop_time = core::time::Duration::from_millis(500); let loop_time = Duration::from_micros(125);
let cfg = pid::PidConfigBuilder::default() let cfg = pid::PidConfigBuilder::default()
.kp(1.0) .kp(2.0)
.ki(1.5) .ki(1.5)
.sample_time(loop_time) .sample_time(loop_time)
// .filter_tc(0.1) .filter_tc(0.1)
.output_limits(50.00, 1000.00) .build()
.build() .expect("Failed to build a PID configuration");
.expect("Failed to build a PID configuration"); let controller = pid::FuncPidController::new(cfg);
let 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 set_point = DEFAULT_TARGET_RPM;
dshot_esc.arm(); dshot_esc.arm();
let mut rpm = 0; let mut rpm = 0;
let mut control: f32 = 0.0; let mut control: f32 = 0.0;
// let timestamp = Instant::now();
loop { loop {
let mut begin = Instant::now();
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 :)
dshot_esc.set_throttle(200); dshot_esc.set_throttle(400);
rpm = match dshot_esc.get_rpm() { rpm = match dshot_esc.get_rpm() {
Some(x) => { Some(x) => {
// rprintln!("GOT RPM {}", x); // rprintln!("GOT RPM {}", x);
@ -138,11 +152,12 @@ fn main() -> ! {
} }
}; };
// rprintln!("RPM:{}",rpm); // rprintln!("RPM:{}",rpm);
let last_time = ctx.last_time().unwrap_or(Millis(0)); let last_time = esp_hal::time::Instant::now();
// let timestamp = last_time + Duration::from_millis(begin.elapsed().as_millis() as _);
// (control, ctx) = pid.compute(ctx, rpm as _, set_point as _, timestamp, None);
// rprintln!("control:{},rpm:{}", control,rpm); let timestamp = last_time + Duration::from_millis(Instant::now().duration_since_epoch().as_millis() as _);
(control, ctx) = controller.compute(ctx, rpm as _, set_point as _, timestamp, None);
let dumped_context = ctx.last_time().expect("LAST TIME!");
rprintln!("control:{},rpm:{},timestamp:{:?}", control,rpm,dumped_context);
} }
// rprintln!("RMT SENT!"); // rprintln!("RMT SENT!");