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adds cell for fetching the RPM

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This commit is contained in:
Robert Schauklies 2026-01-25 00:36:07 +01:00
parent 6c38cd59ee
commit 47f224055b
2 changed files with 21 additions and 6 deletions
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23
spinnyboy_rust/src/bin/dc_driver/dshot.rs
View file

@ -4,7 +4,7 @@ use esp_hal::{
gpio::Level, gpio::Level,
rmt::{Channel, PulseCode, SingleShotTxTransaction}, rmt::{Channel, PulseCode, SingleShotTxTransaction},
}; };
use core::{cell::{Ref, RefCell}, ops::Index}; use core::{cell::{self, Cell, Ref, RefCell}, ops::Index};
use num_traits::float::FloatCore; use num_traits::float::FloatCore;
use rtt_target::{rprint, rprintln}; use rtt_target::{rprint, rprintln};
@ -12,6 +12,10 @@ fn calculate_crc(frame: u16) -> u16 {
(0xffff ^ (frame ^ (frame >> 4) ^ (frame >> 8))) & 0xF (0xffff ^ (frame ^ (frame >> 4) ^ (frame >> 8))) & 0xF
} }
/*https://de.aliexpress.com/item/1005009484033753.html?spm=a2g0o.productlist.main.2.6389651cV8lVw8&algo_pvid=9cfe024b-8aff-49ea-981b-824f392de976&algo_exp_id=9cfe024b-8aff-49ea-981b-824f392de976-1&pdp_ext_f=%7B%22order%22%3A%2232%22%2C%22eval%22%3A%221%22%2C%22fromPage%22%3A%22search%22%7D&pdp_npi=6%40dis%21EUR%2111.99%2111.99%21%21%2113.55%2113.55%21%40211b813b17620408595223963e91a7%2112000049243823801%21sea%21DE%212739924950%21X%211%210%21n_tag%3A-29919%3Bd%3Abce7cd6%3Bm03_new_user%3A-29895&curPageLogUid=GNUFzsTU8oDr&utparam-url=scene%3Asearch%7Cquery_from%3A%7Cx_object_id%3A1005009484033753%7C_p_origin_prod%3A
IFlight XING-E Pro 2207 2750KV
*/
const XING_EPRO_22_COILS: u32 = 12;
#[allow(dead_code)] #[allow(dead_code)]
#[allow(non_camel_case_types)] #[allow(non_camel_case_types)]
@ -196,7 +200,7 @@ pub struct DShot<'a> {
rx_channel: RefCell<&'a mut Channel<'static, esp_hal::Blocking, esp_hal::rmt::Rx>>, rx_channel: RefCell<&'a mut Channel<'static, esp_hal::Blocking, esp_hal::rmt::Rx>>,
speed: DShotSpeed, speed: DShotSpeed,
bit_ticks: BitTicks, bit_ticks: BitTicks,
rpm: Cell<Option<u32>>,
pulses: RefCell<[u32; 17]>, pulses: RefCell<[u32; 17]>,
requested_throttle: RefCell<u16>, requested_throttle: RefCell<u16>,
current_tx: RefCell<Option<SingleShotTxTransaction<'a, 'a, u32>>>, current_tx: RefCell<Option<SingleShotTxTransaction<'a, 'a, u32>>>,
@ -215,20 +219,25 @@ impl<'a> DShot<'a> {
let clk_speed = clk_speed.unwrap_or(80_000_000); let clk_speed = clk_speed.unwrap_or(80_000_000);
let clk_divider = clk_divider.unwrap_or(1); let clk_divider = clk_divider.unwrap_or(1);
let bit_ticks = BitTicks::from_clk(clk_speed, clk_divider, speed); let bit_ticks = BitTicks::from_clk(clk_speed, clk_divider, speed);
let cell = Cell::new(None);
let txc = tx_channel.reborrow().transmit(&[0u32]).unwrap(); let txc = tx_channel.reborrow().transmit(&[0u32]).unwrap();
Self { Self {
rx_channel: RefCell::new(rx_channel), rx_channel: RefCell::new(rx_channel),
speed, speed,
bit_ticks, bit_ticks,
rpm: cell,
pulses: RefCell::new([0u32; 17]), pulses: RefCell::new([0u32; 17]),
requested_throttle: RefCell::new(0), requested_throttle: RefCell::new(0),
current_tx: RefCell::new(Some(txc)), current_tx: RefCell::new(Some(txc)),
current_tx_done_at: RefCell::new(None), current_tx_done_at: RefCell::new(None),
} }
} }
fn set_rpm(&self,new_rpm:u32){
self.rpm.set(Some(new_rpm));
}
pub fn get_rpm(&self) -> Option<u32> {
self.rpm.get()
}
pub fn create_frame(value: u16, telemetry: bool) -> u16 { pub fn create_frame(value: u16, telemetry: bool) -> u16 {
// Mask to 11 bits (0-2047 range) and set telemetry bit // Mask to 11 bits (0-2047 range) and set telemetry bit
let frame = ((value & 0x07FF) << 1) | telemetry as u16; let frame = ((value & 0x07FF) << 1) | telemetry as u16;
@ -301,7 +310,9 @@ impl<'a> DShot<'a> {
// Fucking got it. // Fucking got it.
let exp = data >> 9; let exp = data >> 9;
let mantissa = data & 0b111111111; let mantissa = data & 0b111111111;
let rpm = mantissa << exp; let mut rpm: u32 = (mantissa << exp).into();
rpm = (rpm*1000);
rprintln!("RPM: {}", rpm); rprintln!("RPM: {}", rpm);
} }
} }

4
spinnyboy_rust/src/bin/main.rs
View file

@ -100,6 +100,10 @@ fn main() -> ! {
loop { loop {
dshot_esc.process(); dshot_esc.process();
dshot_esc.set_throttle(150); dshot_esc.set_throttle(150);
match dshot_esc.get_rpm() {
Some(x) => {rprintln!("GOT RPM {}",x)},
None => {rprintln!("NO RPM!")}
}
} }
// rprintln!("RMT SENT!"); // rprintln!("RMT SENT!");