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adds poc wise uart interfacing

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This commit is contained in:
Robert Schauklies 2025-12-28 00:29:31 +01:00
parent 3ef9bbdcec
commit e4253077b1
1 changed files with 29 additions and 15 deletions
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44
spinnyboy_rust/src/bin/main.rs
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@ -5,15 +5,17 @@
reason = "mem::forget is generally not safe to do with esp_hal types, especially those \ reason = "mem::forget is generally not safe to do with esp_hal types, especially those \
holding buffers for the duration of a data transfer." holding buffers for the duration of a data transfer."
)] )]
use core::fmt::Write;
use esp_hal::uart::{Config, Uart};
use esp_hal::clock::CpuClock; use esp_hal::clock::CpuClock;
use esp_hal::delay::Delay;
use esp_hal::main;
use esp_hal::mcpwm::operator::PwmPinConfig; use esp_hal::mcpwm::operator::PwmPinConfig;
use esp_hal::mcpwm::timer::PwmWorkingMode; use esp_hal::mcpwm::timer::PwmWorkingMode;
use esp_hal::time::Rate; use esp_hal::time::Rate;
use esp_hal::timer::timg::TimerGroup;
use esp_hal::main;
use esp_hal::time::{Duration, Instant}; use esp_hal::time::{Duration, Instant};
use esp_hal::delay::Delay; use esp_hal::timer::timg::TimerGroup;
use rtt_target::rprintln; use rtt_target::rprintln;
mod dc_driver; mod dc_driver;
use dc_driver::afroesc::AfroEsc; use dc_driver::afroesc::AfroEsc;
@ -40,36 +42,49 @@ fn main() -> ! {
let mut delay = Delay::new(); let mut delay = Delay::new();
esp_alloc::heap_allocator!(#[esp_hal::ram(reclaimed)] size: 65536); esp_alloc::heap_allocator!(#[esp_hal::ram(reclaimed)] size: 65536);
let clock_config = esp_hal::mcpwm::PeripheralClockConfig::with_frequency(Rate::from_mhz(32)).unwrap(); let clock_config =
esp_hal::mcpwm::PeripheralClockConfig::with_frequency(Rate::from_mhz(32)).unwrap();
let mut mcpwm = esp_hal::mcpwm::McPwm::new(peripherals.MCPWM0, clock_config); let mut mcpwm = esp_hal::mcpwm::McPwm::new(peripherals.MCPWM0, clock_config);
mcpwm.operator0.set_timer(&mcpwm.timer0); mcpwm.operator0.set_timer(&mcpwm.timer0);
let pin = peripherals.GPIO18; let pin = peripherals.GPIO18;
let mut pwm_pin = mcpwm.operator0.with_pin_a(pin, PwmPinConfig::UP_ACTIVE_HIGH); let mut pwm_pin = mcpwm
let timer_clock_cfg = clock_config .operator0
.with_pin_a(pin, PwmPinConfig::UP_ACTIVE_HIGH);
let timer_clock_cfg = clock_config
.timer_clock_with_frequency(19_999, PwmWorkingMode::Increase, Rate::from_hz(50)) .timer_clock_with_frequency(19_999, PwmWorkingMode::Increase, Rate::from_hz(50))
.unwrap(); .unwrap();
mcpwm.timer0.start(timer_clock_cfg); mcpwm.timer0.start(timer_clock_cfg);
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);
esc.set_duty_percent(10); esc.set_duty_percent(10);
delay.delay_millis(3000); delay.delay_millis(3000);
//1421 is I think the best, makes calculating the throttle easier //1421 is I think the best, makes calculating the throttle easier
esc.set_timestamp(1055); esc.set_timestamp(1055);
delay.delay_millis(3000); delay.delay_millis(3000);
let mut uart0 = Uart::new(peripherals.UART0, Config::default().with_baudrate(9600))
.unwrap()
.with_rx(peripherals.GPIO9)
.with_tx(peripherals.GPIO10);
uart0.write(b"page page1");
uart0.write(b"\xff");
uart0.write(b"\xff");
uart0.write(b"\xff");
uart0.write(b"\xff");
rprintln!("WRITE HAPPENED!");
// Example: Ramp from 0% to 50% throttle // Example: Ramp from 0% to 50% throttle
//the afro esc starts turning at roughly setup gets a PWM at //the afro esc starts turning at roughly setup gets a PWM at
//loop{ //loop{
// for pulse in 1120..1500 { // for pulse in 1120..1500 {
// rprintln!("pulse:{}",pulse); // rprintln!("pulse:{}",pulse);
// pwm_pin.set_timestamp(pulse); // pwm_pin.set_timestamp(pulse);
// Timer::after_millis(3000).await; // Timer::after_millis(3000).await;
// } // }
// Timer::after_millis(1000).await; // Timer::after_millis(1000).await;
// // Return to idle // // Return to idle
// pwm_pin.set_timestamp(1000); // pwm_pin.set_timestamp(1000);
// Timer::after_millis(1000).await; // Timer::after_millis(1000).await;
@ -77,8 +92,7 @@ fn main() -> ! {
loop { loop {
rprintln!("Hello world!"); rprintln!("Hello world!");
delay.delay_millis(3000); delay.delay_millis(3000);
} }
// for inspiration have a look at the examples at https://github.com/esp-rs/esp-hal/tree/esp-hal-v1.0.0/examples/src/bin // for inspiration have a look at the examples at https://github.com/esp-rs/esp-hal/tree/esp-hal-v1.0.0/examples/src/bin