spinnyboy_rust/src/bin/dc_driver/afroesc.rs

@@ -1,9 +1,14 @@
+#![no_std]
+
+use esp_hal::aes::Operation;
+use esp_hal::mcpwm::PwmPeripheral;
 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;
-use crate::dc_driver::EscState;
 pub struct AfroEsc<'a>{
-   pub pwm_pin: &'a mut PwmPin<'a, esp_hal::peripherals::MCPWM0<'a>, 0,true>,
-   state: crate::dc_driver::EscState,
+   pub pwm_pin: &'a mut PwmPin<'a, esp_hal::peripherals::MCPWM0<'a>, 0,true>
 
 }
 const ARMING_SEQUENCE:u16 = 1055;
@@ -14,14 +19,13 @@ 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> {
-      let mut esc = AfroEsc{pwm_pin:pwm_pin,state:EscState::Starting};
+      let mut esc = AfroEsc{pwm_pin:pwm_pin};
       let delay = Delay::new();
-      esc.send_arming_sequence(); 
+      esc.set_arming_sequence(); 
       delay.delay_millis(3000);
       esc 
    }
    pub fn set_timestamp(&mut self,value:u16){
-
       self.pwm_pin.set_timestamp(value);
    }
    //range is from 1121 till 1421
@@ -33,24 +37,8 @@ impl AfroEsc<'_>{
       let new_timestamp = MIN_THROTTLE+value*GAP;
       self.pwm_pin.set_timestamp(new_timestamp); 
    }
-   pub fn send_arming_sequence(&mut self){
+   pub fn set_arming_sequence(&mut self){
       self.set_timestamp(1055);
    }
-   fn set_state(&mut self, state:EscState){
-      self.state = state;
-   }
-   pub fn get_state(self) -> EscState{
-      self.state
-   }
-   pub fn map_duty(&mut self, x:i32){
-      if x <=0 {
-       self.pwm_pin.set_timestamp(1055);  
-      }
-      else{
-      let duty:u16 = crate::dc_driver::arduino_map(x, 0, 100, MIN_THROTTLE.into(), MAX_THROTTLE.into()).try_into().expect("INTEGER TOO LARGE");
-      self.pwm_pin.set_timestamp(duty);
-         
-      }
-   }
 
 } 

spinnyboy_rust/src/bin/dc_driver/mod.rs

@@ -1,17 +1 @@
 pub mod afroesc;
-
-pub enum EscState {
-    Starting,
-    Running,
-    Stopping,
-    Stop
-    
-}
-//taken from: https://docs.arduino.cc/language-reference/en/functions/math/map/
-//used for the ramp up of the spincoater
-pub fn arduino_map(x:i32, in_min:i32, in_max:i32, out_min:i32, out_max:i32) -> i32 {
-
-  return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
-
-} 
-

spinnyboy_rust/src/bin/peripherals/nextion.rs

@@ -29,6 +29,11 @@ impl<'a> Nextion<'a> {
         let _ = &self.interface.write(b"\xff\xff\xff");
     }
     fn read_frame(&mut self, buf: &mut [u8]) -> Result<usize, RxError> {
+        let size: usize = 0;
+        let mut tmp_buf: [u8; 20] = [0; 20];
+        let mut cmd_end_ctr = 0;
+        let mut i = 0;
+        let mut read_header = false;
         loop {
             if !self.interface.read_ready() {
                 continue;
@@ -65,6 +70,7 @@ impl<'a> Nextion<'a> {
                 UartStatemachine::Terminator(n) => {
                     if byte == b'\xff' {
                         if n >= 2 {
+                            rprintln!("SENDING {:?}",buf);
                             let idx = self.idx;
                             self.reset();
                             return Ok(idx);