safety commit

spinnyboy_rust/src/bin/dc_driver/dshot.rs

@@ -40,18 +40,27 @@ impl BitTicks {
         Self {
             t0_h,
             t1_h,
-            t0_l: t1_h,
-            t1_l: t0_h,
+            t0_l:t1_h,
+            t1_l:t0_h,
         }
     }
     
-    pub fn from_clk(clk_speed: u32, clk_divider: u8, bit_times: BitTimes) -> Self {
+    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.;
+        let bit_period_us = speed.bit_period_ns() as f32 / 1000.0;
+        let bit_ticks = (bit_period_us / tick_len).round() as u16;
+        let t1_h = (speed.bit_times().t1_h / tick_len).round() as u16;
+        let t0_h = (speed.bit_times().t0_h / tick_len).round() as u16;
+        let mut  bittick = Self::new(t1_h, t0_h);
+        bittick.t0_l = bit_ticks -t0_h;
+        bittick.t1_l = bit_ticks - t1_h;
+        bittick
 
-        let t1_h = (bit_times.t1_h / tick_len).round() as u16;
-        let t0_h = (bit_times.t0_h / tick_len).round() as u16;
-
-        Self::new(t1_h, t0_h)
     }
 }
 
@@ -112,7 +121,6 @@ impl DShotSpeed {
 }
 
 #[allow(dead_code)]
-#[derive(Debug)]
 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>,
@@ -124,14 +132,14 @@ impl<'a> DShot<'a> {
     pub fn new(
         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,
         clk_speed: Option<u32>,
         clk_divider: Option<u8>,
     ) -> 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());
+        let bit_ticks = BitTicks::from_clk(clk_speed, clk_divider, speed.bit_times(),speed);
         Self {
             rx_channel: rx_channel,
             tx_channel: tx_channel,
@@ -179,8 +187,13 @@ impl<'a> DShot<'a> {
             };
         }
 
-        // Add empty pulse to end of pulses frame
-        pulses[16] = 0;
+        pulses[16] = PulseCode::new(
+            Level::Low,
+            self.bit_ticks.t1_h * 2, 
+            Level::Low,
+            0,
+        )
+        .into();
         pulses
     }
 
@@ -199,7 +212,7 @@ impl<'a> DShot<'a> {
     pub fn arm(&mut self, delay: &mut Delay) -> Result<(), &'static str> {
         for _ in 0..100 {
             self.write_throttle(0, false)?;
-            delay.delay_millis(20);
+            delay.delay_millis(50);
         }
 
         Ok(())

spinnyboy_rust/src/bin/main.rs

@@ -5,10 +5,8 @@
     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 core::fmt::Write;
 use alloc::string::ToString;
 use esp_hal::uart::{Config, Uart};
-
 use esp_hal::clock::CpuClock;
 use esp_hal::delay::Delay;
 use esp_hal::main;
@@ -18,7 +16,7 @@ use esp_hal::gpio::{Input, InputConfig};
 use esp_hal::mcpwm::operator::PwmPinConfig;
 use esp_hal::mcpwm::timer::PwmWorkingMode;
 use esp_hal::time::Rate;
-
+use esp_hal::rmt::{Rmt, TxChannelConfig, TxChannelCreator};
 use esp_hal::handler;
 
 use core::cell::RefCell;
@@ -28,10 +26,19 @@ 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 esp_hal::rmt::RxChannelCreator;
+use esp_hal::rmt::RxChannelConfig;
+use crate::dc_driver::dshot;
 use crate::peripherals::ErrCommand;
 #[panic_handler]
 fn panic(_: &core::panic::PanicInfo) -> ! {
@@ -49,6 +56,7 @@ const DEFAULT_SPIN_TIME: u32 = 10;
 // 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>
 esp_bootloader_esp_idf::esp_app_desc!();
+use crate::peripherals::Command;
 
 #[main]
 fn main() -> ! {
@@ -74,7 +82,21 @@ fn main() -> ! {
         .timer_clock_with_frequency(19_999, PwmWorkingMode::Increase, Rate::from_hz(50))
         .unwrap();
     mcpwm.timer0.start(timer_clock_cfg);
-    // let mut esc = AfroEsc::new(&mut pwm_pin);
+    
+    //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 tx_channel = unsafe{rmt.channel0.configure_tx(peripherals.GPIO11,tx_config ).unwrap()};
+    let mut rx_channel = rmt.channel3.configure_rx(peripherals.GPIO12,rx_config).unwrap();
+    let mut dshot_esc = dshot::DShot::new(&mut rx_channel, &mut tx_channel, DShotSpeed::DShot600, Some(80_000_000), Some(1));
+    rprintln!("SENDING RMT");
+    dshot_esc.arm(&mut delay); 
+    dshot_esc.write_throttle(20, false);
+    rprintln!("RMT SENT!");
+    // let mut esc = AfroEsc::new(&mut pwm_pin);;
     // esc.set_timestamp(1000);
     // delay.delay_millis(3000);
     // esc.set_duty_percent(10);
@@ -84,7 +106,6 @@ fn main() -> ! {
     // delay.delay_millis(3000);
     //gpio 9 is the button
     let input_config = InputConfig::default().with_pull(esp_hal::gpio::Pull::Up);
-    use crate::peripherals::Command;
     //let emergency_button = peripherals.GPIO9;
     let mut emergency_button = Input::new(peripherals.GPIO9, input_config);
     critical_section::with(|cs| {