dshot debugging

spinnyboy_rust/shell.nix

@@ -7,10 +7,10 @@
 
 let
   # Define the specific toolchain with ESP32-C6 support
-  rustToolchain = pkgs.rust-bin.selectLatestNightlyWith(toolchain: toolchain.default.override {
+  rustToolchain = pkgs.rust-bin.stable.latest.default.override {
     targets = [ "riscv32imac-unknown-none-elf" ];
     extensions = [ "rust-src" "llvm-tools-preview" ];
-  });
+  };
 in
 pkgs.mkShell {
   nativeBuildInputs = [

spinnyboy_rust/src/bin/dc_driver/dshot.rs

@@ -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(
+        pulses[16] =0; 
-            Level::Low,
-            self.bit_ticks.t1_h * 2, 
-            Level::Low,
-            0,
-        )
-        .into();
         pulses
     }
 

spinnyboy_rust/src/bin/main.rs

@@ -57,6 +57,9 @@ const DEFAULT_SPIN_TIME: u32 = 10;
 // For more information see: <https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-reference/system/app_image_format.html#application-description>
 esp_bootloader_esp_idf::esp_app_desc!();
 use crate::peripherals::Command;
+use esp_hal::gpio::Output;
+use esp_hal::gpio::Level;
+use esp_hal::gpio::OutputConfig;
 
 #[main]
 fn main() -> ! {
@@ -88,14 +91,19 @@ fn main() -> ! {
     let rmt = Rmt::new(peripherals.RMT, freq).expect("CAN NOT SET FREQUENCY");
     let rx_config = RxChannelConfig::default().with_clk_divider(1);
     let tx_config = TxChannelConfig::default().with_clk_divider(1);
-    
+    let mut toggle_pin = Output::new(peripherals.GPIO2, Level::Low, OutputConfig::default()); 
-    let mut tx_channel = unsafe{rmt.channel0.configure_tx(peripherals.GPIO11,tx_config ).unwrap()};
+    let mut tx_channel = rmt.channel0.configure_tx(peripherals.GPIO23,tx_config ).expect("creation of TX_CHANNEL FAILED!");
-    let mut rx_channel = rmt.channel3.configure_rx(peripherals.GPIO12,rx_config).unwrap();
+    let mut rx_channel = rmt.channel3.configure_rx(peripherals.GPIO14,rx_config).unwrap();
     let mut dshot_esc = dshot::DShot::new(&mut rx_channel, &mut tx_channel, DShotSpeed::DShot600, Some(80_000_000), Some(1));
     rprintln!("SENDING RMT");
-    dshot_esc.arm(&mut delay); 
+    loop{
-    dshot_esc.write_throttle(20, false);
+    delay.delay_millis(1000);
-    rprintln!("RMT SENT!");
+    toggle_pin.set_high();
+    dshot_esc.write_throttle(2047,true);
+    toggle_pin.set_low();
+
+    }
+    // rprintln!("RMT SENT!");
     // let mut esc = AfroEsc::new(&mut pwm_pin);;
     // esc.set_timestamp(1000);
     // delay.delay_millis(3000);