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we are now measuring the RPM based on the code from: https://symonb.github.io//docs/drone/ESC/ESC_prot_impl_2_2

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Robert Schauklies 2026-02-14 19:17:34 +01:00
parent 47f224055b
commit 65761b3f7d
3 changed files with 75 additions and 19 deletions
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24
spinnyboy_rust/src/bin/dc_driver/dshot.rs
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@ -304,16 +304,28 @@ impl<'a> DShot<'a> {
// Decode to a 16 bit value.
if let Some(frame) = decode_bidi_telemetry(&buf[..len]) {
// Check CRC.
let data = frame >> 4;
let mut data = frame >> 4;
let crc = calculate_crc(data);
if data != 0xfff && crc == (frame&0b1111) {
// Fucking got it.
let exp = data >> 9;
let mantissa = data & 0b111111111;
let mut rpm: u32 = (mantissa << exp).into();
rpm = (rpm*1000);
// ESC_telemetry[4] = (SerialBuf[7] << 8) | SerialBuf[8]; // eRpM *100
// rprintln!("SETTING RPM");
// rprintln!("DATA:{}",data.to_le());
let exp = data >> 9;
let mantissa = data & 0b111111111;
let period_ms: u32 = (mantissa << exp).into();
let erpm = 60*100_000/period_ms*2;
// value sent by ESC is a period between each pole changes [us].
// to achive eRPM we need to find out how many of these changes are in one minute.
// eRPM = (60*1000 000)/T_us next RPM can be achived -> RPM = eRPM/(poles/2):
let rpm = (((erpm))/((XING_EPRO_22_COILS)));
rprintln!("RPM: {}", rpm);
rprintln!("ERPM: {}", erpm);
rprintln!("period_ms: {}", period_ms);
self.rpm.set(Some(rpm))
}
}
}
@ -330,7 +342,7 @@ impl<'a> DShot<'a> {
let tx_chann = rc.take().unwrap().wait().unwrap();
let mut pulses = self.pulses.borrow_mut();
let throttle = self.requested_throttle.borrow();
*pulses = self.create_pulses(*throttle, false);
*pulses = self.create_pulses(*throttle, true);
let pulses = pulses.as_ref();
// SAFETY: eat shit, rust
let pulses = unsafe {