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some display plumbing

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This commit is contained in:
Robert Schauklies 2026-03-14 16:50:21 +01:00
parent db90f6dc0c
commit 9e842a2a30
2 changed files with 17 additions and 10 deletions
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24
spinnyboy_rust/src/bin/main.rs
View file

@ -128,8 +128,8 @@ fn main() -> ! {
//PID-Controller //PID-Controller
let loop_time = Duration::from_micros(10); let loop_time = Duration::from_micros(10);
let cfg = pid::PidConfigBuilder::default() let cfg = pid::PidConfigBuilder::default()
.kp(3.0) .kp(0.4)
.ki(1.0) .ki(0.0)
.output_limits(100.00, 2040.00) .output_limits(100.00, 2040.00)
.sample_time(loop_time) .sample_time(loop_time)
.filter_tc(0.1) .filter_tc(0.1)
@ -138,12 +138,11 @@ fn main() -> ! {
let controller = pid::FuncPidController::new(cfg); let controller = pid::FuncPidController::new(cfg);
let mut ctx = PidContext::new(Millis(0), 0.0, 0.0); let mut ctx = PidContext::new(Millis(0), 0.0, 0.0);
let set_point = DEFAULT_TARGET_RPM; let set_point = DEFAULT_TARGET_RPM;
dshot_esc.arm();
let mut rpm = 0; let mut rpm = 0;
let mut control: f32 = 200.0; let mut control: f32 = 200.0;
let mut timg0 = TimerGroup::new(peripherals.TIMG0); let mut timg0 = TimerGroup::new(peripherals.TIMG0);
let coat_timer = timg0.timer0; let coat_timer = timg0.timer0;
dshot_esc.set_throttle(0); // shot_esc.set_throttle(0);
// let mut esc = AfroEsc::new(&mut pwm_pin);; // let mut esc = AfroEsc::new(&mut pwm_pin);;
// esc.set_timestamp(1000); // esc.set_timestamp(1000);
// delay.delay_millis(3000); // delay.delay_millis(3000);
@ -224,15 +223,16 @@ fn main() -> ! {
} }
if started { if started {
rprintln!("STARTING!"); rprintln!("STARTING!");
// spincoater.armed();
let _ = coat_timer let _ = coat_timer
.load_value(esp_hal::time::Duration::from_secs(10)) .load_value(esp_hal::time::Duration::from_secs(10))
.expect("TODO: Could not set timer for coating! "); .expect("TODO: Could not set timer for coating! ");
dshot_esc.arm();
coat_timer.start(); coat_timer.start();
while !coat_timer.is_interrupt_set() { while !coat_timer.is_interrupt_set() {
dshot_esc.process(); dshot_esc.process();
//let control_val = dc_driver:: //let control_val = dc_driver::
//this bad boy needs floats, this will be fun :) //this bad boy needs floats, this will be fun :)
control = 200.00;
dshot_esc.set_throttle(control as _); dshot_esc.set_throttle(control as _);
rpm = match dshot_esc.get_rpm() { rpm = match dshot_esc.get_rpm() {
Some(x) => { Some(x) => {
@ -253,13 +253,17 @@ fn main() -> ! {
(control, ctx) = (control, ctx) =
controller.compute(ctx, rpm as _, set_point as _, Millis(timestamp), None); controller.compute(ctx, rpm as _, set_point as _, Millis(timestamp), None);
let dumped_context = ctx.last_time().expect("LAST TIME!"); let dumped_context = ctx.last_time().expect("LAST TIME!");
// rprintln!("control:{},rpm:{}", control,rpm); rprintln!("control:{},rpm:{}", control,rpm);
//first we send the RPM! //first we send the RPM!
let running_rpm = format!("running_rpm.val={}", rpm); if display.write_ready(){
display.send_command(running_rpm.to_string().as_bytes()); let running_rpm = format!("running_rpm.val={}", rpm);
display.send_command(running_rpm.to_string().as_bytes());
}
if display.write_ready(){
let counter = format!("counter.val={}", 1234);
display.send_command(counter.to_string().as_bytes());
let counter = format!("counter.val={}", 1234); }
display.send_command(counter.to_string().as_bytes());
} }
rprintln!("COATING done!"); rprintln!("COATING done!");

3
spinnyboy_rust/src/bin/peripherals/nextion.rs
View file

@ -123,6 +123,9 @@ impl<'a> Nextion<'a> {
pub fn read_ready(&mut self) -> bool { pub fn read_ready(&mut self) -> bool {
self.interface.read_ready() self.interface.read_ready()
} }
pub fn write_ready(&mut self) -> bool {
self.interface.write_ready()
}
fn reset(&mut self) { fn reset(&mut self) {
self.state = UartStatemachine::WaitingP; self.state = UartStatemachine::WaitingP;
self.idx = 0; self.idx = 0;