adds interrupts

spinnyboy_rust/src/bin/dc_driver/afroesc.rs

@@ -6,11 +6,12 @@ use esp_hal::mcpwm::operator::PwmPin;
 use esp_hal::mcpwm::operator::Operator;
 use esp_hal::mcpwm::McPwm;
 use esp_hal::peripherals::MCPWM0;
-
+use esp_hal::delay::Delay;
 pub struct AfroEsc<'a>{
    pub pwm_pin: &'a mut PwmPin<'a, esp_hal::peripherals::MCPWM0<'a>, 0,true>
 
 }
+const ARMING_SEQUENCE:u16 = 1055;
 const MIN_THROTTLE:u16 = 1121;
 const MAX_THROTTLE:u16 = 1421;
 const GAP:u16 = (MAX_THROTTLE - MIN_THROTTLE)/100;
@@ -18,7 +19,11 @@ const GAP:u16 = (MAX_THROTTLE - MIN_THROTTLE)/100;
 impl AfroEsc<'_>{
    //this is a little hacky tbh
    pub fn  new<'a>(pwm_pin:&'a mut PwmPin<'a, esp_hal::peripherals::MCPWM0<'a>, 0,true>)-> AfroEsc<'a> {
-      AfroEsc{pwm_pin:pwm_pin}
+      let mut esc = AfroEsc{pwm_pin:pwm_pin};
+      let delay = Delay::new();
+      esc.set_arming_sequence(); 
+      delay.delay_millis(3000);
+      esc 
    }
    pub fn set_timestamp(&mut self,value:u16){
       &self.pwm_pin.set_timestamp(value);
@@ -32,4 +37,8 @@ impl AfroEsc<'_>{
       let new_timestamp = MIN_THROTTLE+value*GAP;
       &self.pwm_pin.set_timestamp(new_timestamp); 
    }
+   pub fn set_arming_sequence(&mut self){
+      &self.set_timestamp(1055);
+   }
+
 } 

spinnyboy_rust/src/bin/main.rs

@@ -11,19 +11,30 @@ use esp_hal::uart::{Config, Uart};
 use esp_hal::clock::CpuClock;
 use esp_hal::delay::Delay;
 use esp_hal::main;
+
+use esp_hal::gpio::Event;
+use esp_hal::gpio::{Input, InputConfig};
 use esp_hal::mcpwm::operator::PwmPinConfig;
 use esp_hal::mcpwm::timer::PwmWorkingMode;
 use esp_hal::time::Rate;
+
+use esp_hal::handler;
+
+use core::cell::RefCell;
 use esp_hal::time::{Duration, Instant};
 use esp_hal::timer::timg::TimerGroup;
+
+use critical_section::Mutex;
 use rtt_target::rprintln;
 mod dc_driver;
+
 use dc_driver::afroesc::AfroEsc;
 #[panic_handler]
 fn panic(_: &core::panic::PanicInfo) -> ! {
     loop {}
 }
-
+//
+static BUTTON: Mutex<RefCell<Option<Input>>> = Mutex::new(RefCell::new(None));
 extern crate alloc;
 
 // This creates a default app-descriptor required by the esp-idf bootloader.
@@ -47,7 +58,6 @@ fn main() -> ! {
     let mut mcpwm = esp_hal::mcpwm::McPwm::new(peripherals.MCPWM0, clock_config);
     mcpwm.operator0.set_timer(&mcpwm.timer0);
     let pin = peripherals.GPIO18;
-
     let mut pwm_pin = mcpwm
         .operator0
         .with_pin_a(pin, PwmPinConfig::UP_ACTIVE_HIGH);
@@ -55,19 +65,29 @@ fn main() -> ! {
         .timer_clock_with_frequency(19_999, PwmWorkingMode::Increase, Rate::from_hz(50))
         .unwrap();
     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
-    esc.set_timestamp(1055);
+    // esc.set_timestamp(1055);
-    delay.delay_millis(3000);
+    // delay.delay_millis(3000);
+    //gpio 9 is the button
+    let input_config = InputConfig::default().with_pull(esp_hal::gpio::Pull::Up);
+    //let emergency_button = peripherals.GPIO9;
+    let mut emergency_button = Input::new(peripherals.GPIO9, input_config);
+    critical_section::with(|cs| {
+        emergency_button.listen(Event::FallingEdge);
+        BUTTON.borrow_ref_mut(cs).replace(emergency_button)
+    });
+    let mut io = esp_hal::gpio::Io::new(peripherals.IO_MUX);
+    io.set_interrupt_handler(handler);
 
     let mut uart0 = Uart::new(peripherals.UART0, Config::default().with_baudrate(9600))
         .unwrap()
-        .with_rx(peripherals.GPIO9)
+        .with_rx(peripherals.GPIO10)
-        .with_tx(peripherals.GPIO10);
+        .with_tx(peripherals.GPIO11);
     uart0.write(b"page page1");
     uart0.write(b"\xff");
     uart0.write(b"\xff");
@@ -97,3 +117,29 @@ fn main() -> ! {
 
     // 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
 }
+
+#[handler]
+// #[ram]
+fn handler() {
+
+
+    if critical_section::with(|cs| {
+        BUTTON
+            .borrow_ref_mut(cs)
+            .as_mut()
+            .unwrap()
+            .is_interrupt_set()
+    }) {
+        rprintln!("Button was the source of the interrupt");
+    } else {
+        rprintln!("Button was not the source of the interrupt");
+    }
+
+    critical_section::with(|cs| {
+        BUTTON
+            .borrow_ref_mut(cs)
+            .as_mut()
+            .unwrap()
+            .clear_interrupt()
+    });
+}