adds cell for fetching the RPM

spinnyboy_rust/src/bin/dc_driver/dshot.rs

@@ -4,7 +4,7 @@ use esp_hal::{
     gpio::Level,
     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 rtt_target::{rprint, rprintln};
 
@@ -12,6 +12,10 @@ fn calculate_crc(frame: u16) -> u16 {
     (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(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>>,
     speed: DShotSpeed,
     bit_ticks: BitTicks,
-
+    rpm: Cell<Option<u32>>,
     pulses: RefCell<[u32; 17]>,
     requested_throttle: RefCell<u16>,
     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_divider = clk_divider.unwrap_or(1);
         let bit_ticks = BitTicks::from_clk(clk_speed, clk_divider, speed);
-
+        let cell = Cell::new(None);
         let txc = tx_channel.reborrow().transmit(&[0u32]).unwrap();
         Self {
             rx_channel: RefCell::new(rx_channel),
             speed,
             bit_ticks,
-
+            rpm: cell,
             pulses: RefCell::new([0u32; 17]),
             requested_throttle: RefCell::new(0),
             current_tx: RefCell::new(Some(txc)),
             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 {
         // Mask to 11 bits (0-2047 range) and set telemetry bit
         let frame = ((value & 0x07FF) << 1) | telemetry as u16;
@@ -301,7 +310,9 @@ impl<'a> DShot<'a> {
                                             // Fucking got it.
                                             let exp = data >> 9;
                                             let mantissa = data & 0b111111111;
-                                            let rpm = mantissa << exp;
+                                            let mut rpm: u32 = (mantissa << exp).into();
+                                            rpm = (rpm*1000);
+
                                             rprintln!("RPM: {}", rpm);
                                         }
                                     }

spinnyboy_rust/src/bin/main.rs

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