mend
This commit is contained in:
Robert Schauklies
parent
7791c55969
commit
5f9e718f86
6 changed files with 177 additions and 62 deletions
Binary file not shown.
135
spinnyboy_rust/Cargo.lock
generated
135
spinnyboy_rust/Cargo.lock
generated
|
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@ -40,6 +40,12 @@ dependencies = [
|
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"syn 2.0.111",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "bitflags"
|
||||
version = "1.3.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
|
||||
|
||||
[[package]]
|
||||
name = "bitflags"
|
||||
version = "2.10.0"
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||||
|
|
@ -155,6 +161,38 @@ dependencies = [
|
|||
"syn 2.0.111",
|
||||
]
|
||||
|
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[[package]]
|
||||
name = "defmt"
|
||||
version = "1.0.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "548d977b6da32fa1d1fda2876453da1e7df63ad0304c8b3dae4dbe7b96f39b78"
|
||||
dependencies = [
|
||||
"bitflags 1.3.2",
|
||||
"defmt-macros",
|
||||
]
|
||||
|
||||
[[package]]
|
||||
name = "defmt-macros"
|
||||
version = "1.0.1"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3d4fc12a85bcf441cfe44344c4b72d58493178ce635338a3f3b78943aceb258e"
|
||||
dependencies = [
|
||||
"defmt-parser",
|
||||
"proc-macro-error2",
|
||||
"proc-macro2",
|
||||
"quote",
|
||||
"syn 2.0.111",
|
||||
]
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||||
|
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[[package]]
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||||
name = "defmt-parser"
|
||||
version = "1.0.0"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "10d60334b3b2e7c9d91ef8150abfb6fa4c1c39ebbcf4a81c2e346aad939fee3e"
|
||||
dependencies = [
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"thiserror",
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||||
]
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[[package]]
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name = "delegate"
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version = "0.13.5"
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|
@ -227,7 +265,7 @@ dependencies = [
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|||
"embedded-io-async 0.6.1",
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"futures-sink",
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"futures-util",
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"heapless",
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"heapless 0.8.0",
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]
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|
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[[package]]
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|
|
@ -241,7 +279,7 @@ dependencies = [
|
|||
"embedded-io-async 0.6.1",
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"futures-core",
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"futures-sink",
|
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"heapless",
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"heapless 0.8.0",
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]
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|
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[[package]]
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||||
|
|
@ -366,6 +404,23 @@ dependencies = [
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|||
"rlsf",
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]
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|
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[[package]]
|
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name = "esp-backtrace"
|
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version = "0.18.1"
|
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source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "3318413fb566c7227387f67736cf70cd74d80a11f2bb31c7b95a9eb48d079669"
|
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dependencies = [
|
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"cfg-if",
|
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"defmt",
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"document-features",
|
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"esp-config",
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"esp-metadata-generated",
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"esp-println",
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"heapless 0.9.2",
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"riscv",
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"xtensa-lx",
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]
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|
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[[package]]
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name = "esp-bootloader-esp-idf"
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version = "0.4.0"
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|
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@ -403,7 +458,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "54786287c0a61ca0f78cb0c338a39427551d1be229103b4444591796c579e093"
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dependencies = [
|
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"bitfield",
|
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"bitflags",
|
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"bitflags 2.10.0",
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"bytemuck",
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"cfg-if",
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"critical-section",
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|
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@ -469,6 +524,18 @@ version = "0.3.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "9a93e39c8ad8d390d248dc7b9f4b59a873f313bf535218b8e2351356972399e3"
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|
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[[package]]
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name = "esp-println"
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version = "0.16.1"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "5a30e6c9fbcc01c348d46706fef8131c7775ab84c254a3cd65d0cd3f6414d592"
|
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dependencies = [
|
||||
"document-features",
|
||||
"esp-metadata-generated",
|
||||
"esp-sync",
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"log",
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]
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[[package]]
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name = "esp-riscv-rt"
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version = "0.13.0"
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|
|
@ -662,6 +729,16 @@ dependencies = [
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"stable_deref_trait",
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]
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[[package]]
|
||||
name = "heapless"
|
||||
version = "0.9.2"
|
||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
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checksum = "2af2455f757db2b292a9b1768c4b70186d443bcb3b316252d6b540aec1cd89ed"
|
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dependencies = [
|
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"hash32",
|
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"stable_deref_trait",
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]
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[[package]]
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name = "heck"
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version = "0.5.0"
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@ -742,6 +819,12 @@ version = "0.2.178"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "37c93d8daa9d8a012fd8ab92f088405fb202ea0b6ab73ee2482ae66af4f42091"
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[[package]]
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name = "libm"
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version = "0.2.15"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "f9fbbcab51052fe104eb5e5d351cf728d30a5be1fe14d9be8a3b097481fb97de"
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[[package]]
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name = "linked_list_allocator"
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version = "0.10.5"
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|
|
@ -788,6 +871,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "071dfc062690e90b734c0b2273ce72ad0ffa95f0c74596bc250dcfd960262841"
|
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dependencies = [
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"autocfg",
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"libm",
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]
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[[package]]
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@ -841,6 +925,28 @@ dependencies = [
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"toml_edit",
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]
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[[package]]
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name = "proc-macro-error-attr2"
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version = "2.0.0"
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source = "registry+https://github.com/rust-lang/crates.io-index"
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checksum = "96de42df36bb9bba5542fe9f1a054b8cc87e172759a1868aa05c1f3acc89dfc5"
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dependencies = [
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"proc-macro2",
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"quote",
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]
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[[package]]
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name = "proc-macro-error2"
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version = "2.0.1"
|
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source = "registry+https://github.com/rust-lang/crates.io-index"
|
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checksum = "11ec05c52be0a07b08061f7dd003e7d7092e0472bc731b4af7bb1ef876109802"
|
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dependencies = [
|
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"proc-macro-error-attr2",
|
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"proc-macro2",
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"quote",
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"syn 2.0.111",
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]
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[[package]]
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name = "proc-macro2"
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version = "1.0.103"
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@ -1028,9 +1134,12 @@ name = "spinnyboy_rust"
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version = "0.1.0"
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dependencies = [
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"critical-section",
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"embedded-hal 1.0.0",
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"esp-alloc",
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"esp-backtrace",
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"esp-bootloader-esp-idf",
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"esp-hal",
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"num-traits",
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"rtt-target",
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]
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@ -1111,6 +1220,26 @@ dependencies = [
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"winapi-util",
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]
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[[package]]
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name = "thiserror"
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version = "2.0.17"
|
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source = "registry+https://github.com/rust-lang/crates.io-index"
|
||||
checksum = "f63587ca0f12b72a0600bcba1d40081f830876000bb46dd2337a3051618f4fc8"
|
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dependencies = [
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"thiserror-impl",
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||||
]
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|
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[[package]]
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name = "thiserror-impl"
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||||
version = "2.0.17"
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||||
source = "registry+https://github.com/rust-lang/crates.io-index"
|
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checksum = "3ff15c8ecd7de3849db632e14d18d2571fa09dfc5ed93479bc4485c7a517c913"
|
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dependencies = [
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"proc-macro2",
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"quote",
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"syn 2.0.111",
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]
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[[package]]
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name = "toml_datetime"
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version = "0.7.5+spec-1.1.0"
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@ -14,12 +14,13 @@ esp-hal = { version = "1.0.0", features = ["esp32c6", "unstable"] }
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esp-bootloader-esp-idf = { version = "0.4.0", features = ["esp32c6"] }
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critical-section = "1.2.0"
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critical-section = {version = "1.2.0"}
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esp-alloc = "0.9.0"
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rtt-target = "0.6.2"
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embedded-hal = "1.0.0"
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esp-backtrace = {version = "0.18.1",features = ["esp32c6","defmt"]}
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#esp-hal-dshot = {version = "0.3.1",default-features = false ,features = ["esp32c6"]}
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num-traits = { version = "0.2.19", default-features = false, features = ["libm"] }
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[profile.dev]
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# Rust debug is too slow.
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@ -2,7 +2,7 @@
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use esp_hal::{
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delay::Delay,
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gpio::Level,
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rmt::{PulseCode, Tx,Rx,TxChannelCreator,Channel},
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rmt::{Channel, PulseCode, Rx, Tx, TxChannelCreator},
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};
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use num_traits::float::FloatCore;
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@ -112,19 +112,18 @@ impl DShotSpeed {
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}
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#[allow(dead_code)]
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#[derive(Debug, Clone)]
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#[derive(Debug)]
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pub struct DShot<'a> {
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rx_channel:&'a Channel<'a,esp_hal::Blocking,esp_hal::rmt::Rx>,
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tx_channel:&'a Channel<'a,esp_hal::Blocking,esp_hal::rmt::Tx>,
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rx_channel: &'a mut Channel<'static, esp_hal::Blocking, esp_hal::rmt::Rx>,
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tx_channel: &'a mut Channel<'static, esp_hal::Blocking, esp_hal::rmt::Tx>,
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speed: DShotSpeed,
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bit_ticks: BitTicks,
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}
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impl<'a> DShot<'a> {
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pub fn new(
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rx_channel:&'a Channel<'a,esp_hal::Blocking,esp_hal::rmt::Rx>,
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tx_channel: &'a Channel<'a,esp_hal::Blocking,esp_hal::rmt::Tx>,
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rx_channel: &'a mut Channel<'static, esp_hal::Blocking, esp_hal::rmt::Rx>,
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tx_channel: &'a mut Channel<'static, esp_hal::Blocking, esp_hal::rmt::Tx>,
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speed: DShotSpeed,
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clk_speed: Option<u32>,
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clk_divider: Option<u8>,
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@ -134,7 +133,8 @@ impl<'a> DShot<'a> {
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let bit_ticks = BitTicks::from_clk(clk_speed, clk_divider, speed.bit_times());
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Self {
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rx_channel: rx_channel,tx_channel: tx_channel,
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rx_channel: rx_channel,
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tx_channel: tx_channel,
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speed,
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bit_ticks,
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}
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@ -166,14 +166,16 @@ impl<'a> DShot<'a> {
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self.bit_ticks.t1_h,
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Level::Low,
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self.bit_ticks.t1_l,
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).into()
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)
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.into()
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} else {
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PulseCode::new(
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Level::High,
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self.bit_ticks.t0_h,
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Level::Low,
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self.bit_ticks.t0_l,
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).into()
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)
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.into()
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};
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}
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@ -182,15 +184,15 @@ impl<'a> DShot<'a> {
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pulses
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}
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pub fn write_throttle(
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&mut self,
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throttle: u16,
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telemetry: bool,
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) -> Result<(), &'static str> {
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pub fn write_throttle(&mut self, throttle: u16, telemetry: bool) -> Result<(), &'static str> {
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let pulses = self.create_pulses(throttle, telemetry);
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self.channel
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let tx_chann = self.tx_channel.reborrow();
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let transaction = tx_chann
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.transmit(&pulses)
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.map_err(|_| "Failed to send frame")?;
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.unwrap_or(return Err("Failed to send frame"))
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.wait()
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.unwrap_or(return Err("Waiting failed!"));
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|
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Ok(())
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}
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|
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@ -7,7 +7,7 @@
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)]
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use core::fmt::Write;
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use alloc::string::ToString;
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use esp_hal::uart::{self, Config, Uart};
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use esp_hal::uart::{Config, Uart};
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use esp_hal::clock::CpuClock;
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use esp_hal::delay::Delay;
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@ -171,7 +171,6 @@ fn main() -> ! {
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// pwm_pin.set_timestamp(1000);
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// Timer::after_millis(1000).await;
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// }
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loop {
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rprintln!("Hello world!");
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delay.delay_millis(3000);
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|
|
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56
src/main.py
56
src/main.py
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@ -87,6 +87,7 @@ def fafo():
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bgr = f.read(3)
|
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tft._pushcolor(TFTColor(bgr[2],bgr[1],bgr[0]))
|
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time.sleep(5)
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tft.fill(TFT.BLACK)
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def tftprinttest():
|
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tft.fill(TFT.BLACK)
|
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v = 30
|
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|
|
@ -132,6 +133,7 @@ def start_view(state, rotary):
|
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#print(rotary.value())
|
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|
||||
def draw_edit_menu(state, rotary):
|
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tft.fill(TFT.BLACK)
|
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display.print("Deposit speed:")
|
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display.print("{: >{w}} RPM".format(config["deposit_rpm"], w=5))
|
||||
display.print("Coating speed:")
|
||||
|
|
@ -160,7 +162,6 @@ def draw_rpm(rpm):
|
|||
|
||||
|
||||
def deposit_view(state, rotary):
|
||||
# display.fill_rect(0, 0, 127, 14, 1)
|
||||
display.print("Deposit")
|
||||
draw_rpm(state["rpm"])
|
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display.print("Press to")
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||||
|
|
@ -176,6 +177,7 @@ def coating_view(state, rotary):
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|||
|
||||
#def decode_ESC_telemetry(data, motor_poles=14):
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||||
# if len(data) > 10:
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||||
# display.fill_rect(0, 0, 127, 14, 1)
|
||||
# # use latest telemetry
|
||||
# data = data[-10:]
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#
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|
@ -190,13 +192,13 @@ def coating_view(state, rotary):
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# erpm = int((data[7] << 8) | data[8]) * 100
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||||
# rpm = erpm / (motor_poles / 2)
|
||||
# crc = data[9]
|
||||
#
|
||||
# print(" Temp (C):", temperature)
|
||||
# print(" Voltage (V):", voltage)
|
||||
# print(" Current (A):", current)
|
||||
# print("Consumption (mAh):", consumption)
|
||||
# print(" Erpm:", erpm)
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# print(" RPM:", rpm)
|
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#
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# print(" CRC:", crc)
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# print()
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#
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|
|
@ -207,7 +209,6 @@ async def update_display():
|
|||
global state
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||||
global rotary
|
||||
while True:
|
||||
display.print("LOLOLOL")
|
||||
state["view"](state, rotary)
|
||||
await uasyncio.sleep_ms(200)
|
||||
|
||||
|
|
@ -263,7 +264,7 @@ def timer_callback(f):
|
|||
def kill_me(f):
|
||||
state["target_rpm"] = 0
|
||||
|
||||
def update_motor_pwm():
|
||||
async def update_motor_pwm():
|
||||
global timer3
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||||
global current_rpm
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||||
pwm = PWM(Pin(26))
|
||||
|
|
@ -279,30 +280,14 @@ def update_motor_pwm():
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|||
pwm.freq(50)
|
||||
|
||||
timer3.init(mode=Timer.PERIODIC, period=100, callback=timer_callback)
|
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pwm.duty_ns(1055*10**3)
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time.sleep(1)
|
||||
|
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print((current_rpm*60)/COILS)
|
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pwm.duty_ns(1055*10**3)
|
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|
||||
#pwm.duty_ns(1200*10**3)
|
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#global rpm_counter
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#rpm_counter= 0
|
||||
#time.sleep(10)
|
||||
|
||||
# time.sleep(10) # keep low signal to arm
|
||||
# # for i in range(1060,1800):
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# # pwm.duty_u16(i*3)
|
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# # time.sleep(1)
|
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# pwm.duty_ns(1070*10**3)
|
||||
# pwm.duty_u16(1700)
|
||||
# time.sleep(200)
|
||||
pwm.duty_ns(1060*10**3)
|
||||
state["target_rpm"] = 5000
|
||||
timer2.init(mode=Timer.PERIODIC, period=10000, callback=kill_me)
|
||||
time.sleep(3)
|
||||
print((current_rpm*60)/COILS)
|
||||
state["target_rpm"] = 4000
|
||||
coating_time = config["coating_time"]*1000
|
||||
timer2.init(mode=Timer.PERIODIC, period=coating_time, callback=kill_me)
|
||||
|
||||
while(True):
|
||||
|
||||
print(f'target RPM:{state["target_rpm"]}')
|
||||
rpm_pid.setpoint = state["target_rpm"]
|
||||
|
||||
|
|
@ -323,15 +308,14 @@ def update_motor_pwm():
|
|||
if state["target_rpm"] == 0:
|
||||
print("Killing Coater!")
|
||||
throttle = 0
|
||||
rpm_pid.reset()
|
||||
#pwm.duty_ns(1800*10**3)
|
||||
#time.sleep(3)
|
||||
#return
|
||||
print(throttle)
|
||||
|
||||
if throttle !=0:
|
||||
new_duty = 1060+(int(660*throttle))
|
||||
# print(throttle)
|
||||
new_duty = 1055+(int(665*throttle))
|
||||
print(new_duty)
|
||||
pwm.duty_ns(new_duty*10**3)
|
||||
else:
|
||||
print("KILLED!")
|
||||
new_duty = 1055
|
||||
pwm.duty_ns(new_duty*10**3)
|
||||
timer2.deinit()
|
||||
|
|
@ -392,7 +376,6 @@ def on_button_press(p):
|
|||
if state["view"] == edit_coating_rpm_view:
|
||||
state["view"] = edit_coating_time_view
|
||||
rotary.set(
|
||||
max_val=1000,
|
||||
min_val=0,
|
||||
max_val=9999,
|
||||
range_mode=RotaryIRQ.RANGE_BOUNDED,
|
||||
|
|
@ -521,14 +504,15 @@ tft.fill(TFT.BLACK)
|
|||
|
||||
# splash()
|
||||
fafo()
|
||||
tft.fill(TFT.BLACK)
|
||||
# for ff in fonts:
|
||||
# display.set_font(ff)
|
||||
# display.print(text)
|
||||
update_motor_pwm()
|
||||
#update_motor_pwm()
|
||||
event_loop = uasyncio.get_event_loop()
|
||||
# event_loop.create_task(update_display())
|
||||
|
||||
# #event_loop.create_task(update_motor_pwm())
|
||||
event_loop.create_task(update_display())
|
||||
update_display()
|
||||
#event_loop.create_task(update_motor_pwm())
|
||||
#event_loop.run_forever()
|
||||
|
||||
|
||||
|
|
|
|||
Loading…
Add table
Add a link
Reference in a new issue