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dshot debugging

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This commit is contained in:
Robert Schauklies 2026-01-22 22:04:39 +01:00
parent 3e5a905544
commit 9948a76602
3 changed files with 26 additions and 16 deletions
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18
spinnyboy_rust/src/bin/dc_driver/dshot.rs
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@ -5,6 +5,7 @@ use esp_hal::{
rmt::{Channel, PulseCode, Rx, Tx, TxChannelCreator},
};
use num_traits::float::FloatCore;
use rtt_target::{rprint, rprintln};
#[allow(dead_code)]
#[allow(non_camel_case_types)]
@ -140,6 +141,7 @@ 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.bit_times(),speed);
rprint!("bit_ticks.t1_h:{},t1_l:{},t0_h:{},t0_l{}",bit_ticks.t1_h,bit_ticks.t1_l,bit_ticks.t0_h,bit_ticks.t0_l);
Self {
rx_channel: rx_channel,
tx_channel: tx_channel,
@ -165,10 +167,13 @@ impl<'a> DShot<'a> {
pub fn create_pulses(&mut self, throttle_value: u16, telemetry: bool) -> [u32; 17] {
let frame = Self::create_frame(throttle_value, telemetry);
let mut pulses = [0; 17];
rprintln!("CREATING NEW FRAME!");
rprintln!("--------------------");
for i in 0..16 {
let bit = (frame >> (15 - i)) & 1;
pulses[i] = if bit == 1 {
rprint!("1");
PulseCode::new(
Level::High,
self.bit_ticks.t1_h,
@ -177,6 +182,7 @@ impl<'a> DShot<'a> {
)
.into()
} else {
rprint!("0");
PulseCode::new(
Level::High,
self.bit_ticks.t0_h,
@ -186,14 +192,10 @@ impl<'a> DShot<'a> {
.into()
};
}
rprintln!("");
rprintln!("--------------------");
pulses[16] = PulseCode::new(
Level::Low,
self.bit_ticks.t1_h * 2,
Level::Low,
0,
)
.into();
pulses[16] =0;
pulses
}