mend

spinnyboy_rust/Cargo.lock

@@ -40,6 +40,12 @@ dependencies = [
  "syn 2.0.111",
 ]
 
+[[package]]
+name = "bitflags"
+version = "1.3.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "bef38d45163c2f1dde094a7dfd33ccf595c92905c8f8f4fdc18d06fb1037718a"
+
 [[package]]
 name = "bitflags"
 version = "2.10.0"
@@ -155,6 +161,38 @@ dependencies = [
  "syn 2.0.111",
 ]
 
+[[package]]
+name = "defmt"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "548d977b6da32fa1d1fda2876453da1e7df63ad0304c8b3dae4dbe7b96f39b78"
+dependencies = [
+ "bitflags 1.3.2",
+ "defmt-macros",
+]
+
+[[package]]
+name = "defmt-macros"
+version = "1.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3d4fc12a85bcf441cfe44344c4b72d58493178ce635338a3f3b78943aceb258e"
+dependencies = [
+ "defmt-parser",
+ "proc-macro-error2",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.111",
+]
+
+[[package]]
+name = "defmt-parser"
+version = "1.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "10d60334b3b2e7c9d91ef8150abfb6fa4c1c39ebbcf4a81c2e346aad939fee3e"
+dependencies = [
+ "thiserror",
+]
+
 [[package]]
 name = "delegate"
 version = "0.13.5"
@@ -227,7 +265,7 @@ dependencies = [
  "embedded-io-async 0.6.1",
  "futures-sink",
  "futures-util",
- "heapless",
+ "heapless 0.8.0",
 ]
 
 [[package]]
@@ -241,7 +279,7 @@ dependencies = [
  "embedded-io-async 0.6.1",
  "futures-core",
  "futures-sink",
- "heapless",
+ "heapless 0.8.0",
 ]
 
 [[package]]
@@ -366,6 +404,23 @@ dependencies = [
  "rlsf",
 ]
 
+[[package]]
+name = "esp-backtrace"
+version = "0.18.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3318413fb566c7227387f67736cf70cd74d80a11f2bb31c7b95a9eb48d079669"
+dependencies = [
+ "cfg-if",
+ "defmt",
+ "document-features",
+ "esp-config",
+ "esp-metadata-generated",
+ "esp-println",
+ "heapless 0.9.2",
+ "riscv",
+ "xtensa-lx",
+]
+
 [[package]]
 name = "esp-bootloader-esp-idf"
 version = "0.4.0"
@@ -403,7 +458,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "54786287c0a61ca0f78cb0c338a39427551d1be229103b4444591796c579e093"
 dependencies = [
  "bitfield",
- "bitflags",
+ "bitflags 2.10.0",
  "bytemuck",
  "cfg-if",
  "critical-section",
@@ -469,6 +524,18 @@ version = "0.3.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "9a93e39c8ad8d390d248dc7b9f4b59a873f313bf535218b8e2351356972399e3"
 
+[[package]]
+name = "esp-println"
+version = "0.16.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "5a30e6c9fbcc01c348d46706fef8131c7775ab84c254a3cd65d0cd3f6414d592"
+dependencies = [
+ "document-features",
+ "esp-metadata-generated",
+ "esp-sync",
+ "log",
+]
+
 [[package]]
 name = "esp-riscv-rt"
 version = "0.13.0"
@@ -662,6 +729,16 @@ dependencies = [
  "stable_deref_trait",
 ]
 
+[[package]]
+name = "heapless"
+version = "0.9.2"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "2af2455f757db2b292a9b1768c4b70186d443bcb3b316252d6b540aec1cd89ed"
+dependencies = [
+ "hash32",
+ "stable_deref_trait",
+]
+
 [[package]]
 name = "heck"
 version = "0.5.0"
@@ -742,6 +819,12 @@ version = "0.2.178"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "37c93d8daa9d8a012fd8ab92f088405fb202ea0b6ab73ee2482ae66af4f42091"
 
+[[package]]
+name = "libm"
+version = "0.2.15"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f9fbbcab51052fe104eb5e5d351cf728d30a5be1fe14d9be8a3b097481fb97de"
+
 [[package]]
 name = "linked_list_allocator"
 version = "0.10.5"
@@ -788,6 +871,7 @@ source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "071dfc062690e90b734c0b2273ce72ad0ffa95f0c74596bc250dcfd960262841"
 dependencies = [
  "autocfg",
+ "libm",
 ]
 
 [[package]]
@@ -841,6 +925,28 @@ dependencies = [
  "toml_edit",
 ]
 
+[[package]]
+name = "proc-macro-error-attr2"
+version = "2.0.0"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "96de42df36bb9bba5542fe9f1a054b8cc87e172759a1868aa05c1f3acc89dfc5"
+dependencies = [
+ "proc-macro2",
+ "quote",
+]
+
+[[package]]
+name = "proc-macro-error2"
+version = "2.0.1"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "11ec05c52be0a07b08061f7dd003e7d7092e0472bc731b4af7bb1ef876109802"
+dependencies = [
+ "proc-macro-error-attr2",
+ "proc-macro2",
+ "quote",
+ "syn 2.0.111",
+]
+
 [[package]]
 name = "proc-macro2"
 version = "1.0.103"
@@ -1028,9 +1134,12 @@ name = "spinnyboy_rust"
 version = "0.1.0"
 dependencies = [
  "critical-section",
+ "embedded-hal 1.0.0",
  "esp-alloc",
+ "esp-backtrace",
  "esp-bootloader-esp-idf",
  "esp-hal",
+ "num-traits",
  "rtt-target",
 ]
 
@@ -1111,6 +1220,26 @@ dependencies = [
  "winapi-util",
 ]
 
+[[package]]
+name = "thiserror"
+version = "2.0.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "f63587ca0f12b72a0600bcba1d40081f830876000bb46dd2337a3051618f4fc8"
+dependencies = [
+ "thiserror-impl",
+]
+
+[[package]]
+name = "thiserror-impl"
+version = "2.0.17"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "3ff15c8ecd7de3849db632e14d18d2571fa09dfc5ed93479bc4485c7a517c913"
+dependencies = [
+ "proc-macro2",
+ "quote",
+ "syn 2.0.111",
+]
+
 [[package]]
 name = "toml_datetime"
 version = "0.7.5+spec-1.1.0"

spinnyboy_rust/Cargo.toml

@@ -14,12 +14,13 @@ esp-hal = { version = "1.0.0", features = ["esp32c6", "unstable"] }
 
 esp-bootloader-esp-idf = { version = "0.4.0", features = ["esp32c6"] }
 
-critical-section = "1.2.0"
+critical-section = {version = "1.2.0"}
 esp-alloc        = "0.9.0"
 rtt-target       = "0.6.2"
 embedded-hal = "1.0.0"
 esp-backtrace = {version = "0.18.1",features = ["esp32c6","defmt"]}
-
+#esp-hal-dshot = {version = "0.3.1",default-features = false ,features = ["esp32c6"]}
+num-traits = { version = "0.2.19", default-features = false, features = ["libm"] }
 
 [profile.dev]
 # Rust debug is too slow.

spinnyboy_rust/src/bin/dc_driver/dshot.rs

@@ -0,0 +1,207 @@
+// use embedded_hal_async::delay::DelayNs;
+use esp_hal::{
+    delay::Delay,
+    gpio::Level,
+    rmt::{Channel, PulseCode, Rx, Tx, TxChannelCreator},
+};
+use num_traits::float::FloatCore;
+
+#[allow(dead_code)]
+#[allow(non_camel_case_types)]
+#[derive(Debug)]
+pub enum DSHOT_TELEMETRY_CMD {
+    MOTOR_STOP = 0x0,
+    BEEP1 = 0x01,
+    BEEP2 = 0x02,
+    BEEP3 = 0x03,
+    BEEP4 = 0x04,
+    BEEP5 = 0x05,
+    ESC_INFO = 0x06,
+    SPIN_DIRECTION_1 = 0x07,
+    SPIN_DIRECTION_2 = 0x08,
+    MODE_3D_OFF = 0x09,
+    MODE_3D_ON = 0x0A,
+    SETTINGS_REQUEST = 0x0B,
+    SAVE_SETTINGS = 0x0C,
+    EXTENDED_TELEMETRY_ENABLE = 0x0D,
+    EXTENDED_TELEMETRY_DISABLE = 0x0E,
+}
+
+#[derive(Debug, Clone, Copy)]
+pub struct BitTicks {
+    t0_h: u16,
+    t0_l: u16,
+    t1_h: u16,
+    t1_l: u16,
+}
+
+impl BitTicks {
+    pub fn new(t1_h: u16, t0_h: u16) -> Self {
+        Self {
+            t0_h,
+            t1_h,
+            t0_l: t1_h,
+            t1_l: t0_h,
+        }
+    }
+
+    pub fn from_clk(clk_speed: u32, clk_divider: u8, bit_times: BitTimes) -> Self {
+        let tick_len = (1. / clk_speed as f32) * (clk_divider as f32) * 1_000_000.;
+
+        let t1_h = (bit_times.t1_h / tick_len).round() as u16;
+        let t0_h = (bit_times.t0_h / tick_len).round() as u16;
+
+        Self::new(t1_h, t0_h)
+    }
+}
+
+/// High and Low Times in µs
+#[derive(Debug, Clone, Copy)]
+pub struct BitTimes {
+    t0_h: f32,
+    t1_h: f32,
+}
+
+impl BitTimes {
+    pub fn new(t1_h: f32, t0_h: f32) -> Self {
+        Self { t0_h, t1_h }
+    }
+}
+
+#[derive(Debug, Clone, Copy)]
+pub enum DShotSpeed {
+    DShot150,
+    DShot300,
+    DShot600,
+    DShot1200,
+}
+
+impl DShotSpeed {
+    pub fn bit_period_ns(&self) -> u32 {
+        match self {
+            // 6.67µs per bit
+            Self::DShot150 => 6667,
+            // 3.33µs per bit
+            Self::DShot300 => 3333,
+            // 1.67µs per bit
+            Self::DShot600 => 1667,
+            // 0.83µs per bit
+            Self::DShot1200 => 833,
+        }
+    }
+
+    /// High and Low Times in µs
+    pub fn bit_times(&self) -> BitTimes {
+        match &self {
+            Self::DShot150 => BitTimes::new(5.00, 2.50),
+            Self::DShot300 => BitTimes::new(2.50, 1.25),
+            Self::DShot600 => BitTimes::new(1.25, 0.625),
+            Self::DShot1200 => BitTimes::new(0.625, 0.313),
+        }
+    }
+
+    /// These are for an 80 MHz clock with a clock divider setting of 1
+    pub fn default_bit_ticks(&self) -> BitTicks {
+        match &self {
+            Self::DShot150 => BitTicks::new(400, 200),
+            Self::DShot300 => BitTicks::new(200, 100),
+            Self::DShot600 => BitTicks::new(100, 50),
+            Self::DShot1200 => BitTicks::new(50, 25),
+        }
+    }
+}
+
+#[allow(dead_code)]
+#[derive(Debug)]
+pub struct DShot<'a> {
+    rx_channel: &'a mut Channel<'static, esp_hal::Blocking, esp_hal::rmt::Rx>,
+    tx_channel: &'a mut Channel<'static, esp_hal::Blocking, esp_hal::rmt::Tx>,
+    speed: DShotSpeed,
+    bit_ticks: BitTicks,
+}
+
+impl<'a> DShot<'a> {
+    pub fn new(
+        rx_channel: &'a mut Channel<'static, esp_hal::Blocking, esp_hal::rmt::Rx>,
+        tx_channel: &'a mut Channel<'static, esp_hal::Blocking, esp_hal::rmt::Tx>,
+        speed: DShotSpeed,
+        clk_speed: Option<u32>,
+        clk_divider: Option<u8>,
+    ) -> Self {
+        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());
+        Self {
+            rx_channel: rx_channel,
+            tx_channel: tx_channel,
+            speed,
+            bit_ticks,
+        }
+    }
+
+    pub fn calculate_crc(frame: u16) -> u16 {
+        (frame ^ (frame >> 4) ^ (frame >> 8)) & 0xF
+    }
+
+    pub fn create_frame(value: u16, telemetry: bool) -> u16 {
+        // Mask to 11 bits (0-2047 range) and set telemetry bit
+        let frame = ((value & 0x07FF) << 1) | telemetry as u16;
+
+        let crc = Self::calculate_crc(frame);
+
+        (frame << 4) | crc
+    }
+
+    #[allow(clippy::needless_range_loop)]
+    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];
+        for i in 0..16 {
+            let bit = (frame >> (15 - i)) & 1;
+
+            pulses[i] = if bit == 1 {
+                PulseCode::new(
+                    Level::High,
+                    self.bit_ticks.t1_h,
+                    Level::Low,
+                    self.bit_ticks.t1_l,
+                )
+                .into()
+            } else {
+                PulseCode::new(
+                    Level::High,
+                    self.bit_ticks.t0_h,
+                    Level::Low,
+                    self.bit_ticks.t0_l,
+                )
+                .into()
+            };
+        }
+
+        // Add empty pulse to end of pulses frame
+        pulses[16] = 0;
+        pulses
+    }
+
+    pub fn write_throttle(&mut self, throttle: u16, telemetry: bool) -> Result<(), &'static str> {
+        let pulses = self.create_pulses(throttle, telemetry);
+        let tx_chann = self.tx_channel.reborrow();
+        let transaction = tx_chann
+            .transmit(&pulses)
+            .unwrap_or(return Err("Failed to send frame"))
+            .wait()
+            .unwrap_or(return Err("Waiting failed!"));
+
+        Ok(())
+    }
+
+    pub fn arm(&mut self, delay: &mut Delay) -> Result<(), &'static str> {
+        for _ in 0..100 {
+            self.write_throttle(0, false)?;
+            delay.delay_millis(20);
+        }
+
+        Ok(())
+    }
+}

spinnyboy_rust/src/bin/dc_driver/mod.rs

@@ -1,5 +1,5 @@
 pub mod afroesc;
-
+pub mod dshot;
 pub enum EscState {
     Starting,
     Running,

spinnyboy_rust/src/bin/main.rs

@@ -7,7 +7,7 @@
 )]
 use core::fmt::Write;
 use alloc::string::ToString;
-use esp_hal::uart::{self, Config, Uart};
+use esp_hal::uart::{Config, Uart};
 
 use esp_hal::clock::CpuClock;
 use esp_hal::delay::Delay;
@@ -171,7 +171,6 @@ fn main() -> ! {
     //     pwm_pin.set_timestamp(1000);
     //     Timer::after_millis(1000).await;
     // }
-
     loop {
         rprintln!("Hello world!");
         delay.delay_millis(3000);

src/main.py

@@ -87,6 +87,7 @@ def fafo():
                             bgr = f.read(3)
                             tft._pushcolor(TFTColor(bgr[2],bgr[1],bgr[0]))
     time.sleep(5)
+    tft.fill(TFT.BLACK)
 def tftprinttest():
     tft.fill(TFT.BLACK)
     v = 30
@@ -132,6 +133,7 @@ def start_view(state, rotary):
     #print(rotary.value())
 
 def draw_edit_menu(state, rotary):
+    tft.fill(TFT.BLACK)
     display.print("Deposit speed:")
     display.print("{: >{w}} RPM".format(config["deposit_rpm"], w=5))
     display.print("Coating speed:")
@@ -160,7 +162,6 @@ def draw_rpm(rpm):
 
 
 def deposit_view(state, rotary):
-    # display.fill_rect(0, 0, 127, 14, 1)
     display.print("Deposit")
     draw_rpm(state["rpm"])
     display.print("Press to")
@@ -176,6 +177,7 @@ def coating_view(state, rotary):
 
 #def decode_ESC_telemetry(data, motor_poles=14):
 #    if len(data) > 10:
+    # display.fill_rect(0, 0, 127, 14, 1)
 #        # use latest telemetry
 #        data = data[-10:]
 #
@@ -190,13 +192,13 @@ def coating_view(state, rotary):
 #    erpm = int((data[7] << 8) | data[8]) * 100
 #    rpm = erpm / (motor_poles / 2)
 #    crc = data[9]
-#
 #    print("         Temp (C):", temperature)
 #    print("      Voltage (V):", voltage)
 #    print("      Current (A):", current)
 #    print("Consumption (mAh):", consumption)
 #    print("             Erpm:", erpm)
 #    print("              RPM:", rpm)
+#
 #    print("              CRC:", crc)
 #    print()
 #
@@ -207,7 +209,6 @@ async def update_display():
     global state
     global rotary
     while True:
-        display.print("LOLOLOL")
         state["view"](state, rotary)
         await uasyncio.sleep_ms(200)
 
@@ -263,7 +264,7 @@ def timer_callback(f):
 def kill_me(f):
     state["target_rpm"] = 0
 
-def update_motor_pwm():
+async def update_motor_pwm():
     global timer3
     global current_rpm
     pwm = PWM(Pin(26))
@@ -279,30 +280,14 @@ def update_motor_pwm():
     pwm.freq(50) 
 
     timer3.init(mode=Timer.PERIODIC, period=100, callback=timer_callback)
-    pwm.duty_ns(1055*10**3)
-    time.sleep(1)
-    
-    print((current_rpm*60)/COILS)
-    pwm.duty_ns(1055*10**3)
-
-    #pwm.duty_ns(1200*10**3)
-    #global rpm_counter 
-    #rpm_counter= 0
-    #time.sleep(10)
-
-    # time.sleep(10)  # keep low signal to arm
-    # # for i in range(1060,1800):
-    # #     pwm.duty_u16(i*3)
-    # #     time.sleep(1)
-    # pwm.duty_ns(1070*10**3)
-    # pwm.duty_u16(1700)
-    # time.sleep(200)
     pwm.duty_ns(1060*10**3)
-    state["target_rpm"] = 5000
+    time.sleep(3)
-    timer2.init(mode=Timer.PERIODIC, period=10000, callback=kill_me)
+    print((current_rpm*60)/COILS)
+    state["target_rpm"] = 4000
+    coating_time = config["coating_time"]*1000
+    timer2.init(mode=Timer.PERIODIC, period=coating_time, callback=kill_me)
     
     while(True):
-        
         print(f'target RPM:{state["target_rpm"]}')
         rpm_pid.setpoint = state["target_rpm"]
 
@@ -323,15 +308,14 @@ def update_motor_pwm():
         if state["target_rpm"] == 0:
             print("Killing Coater!")
             throttle = 0
-            rpm_pid.reset()
+
-            #pwm.duty_ns(1800*10**3)
-            #time.sleep(3)
-            #return
-        print(throttle)
         if throttle !=0:
-            new_duty = 1060+(int(660*throttle))
+            # print(throttle)
+            new_duty = 1055+(int(665*throttle))
+            print(new_duty)
             pwm.duty_ns(new_duty*10**3)
         else:
+            print("KILLED!")
             new_duty = 1055
             pwm.duty_ns(new_duty*10**3)
             timer2.deinit()
@@ -392,7 +376,6 @@ def on_button_press(p):
     if state["view"] == edit_coating_rpm_view:
         state["view"] = edit_coating_time_view
         rotary.set(
-                max_val=1000,
             min_val=0,
             max_val=9999,
             range_mode=RotaryIRQ.RANGE_BOUNDED,
@@ -521,14 +504,15 @@ tft.fill(TFT.BLACK)
 
 # splash()
 fafo()
+tft.fill(TFT.BLACK)
 # for ff in fonts:
 #     display.set_font(ff)
 #     display.print(text)
-update_motor_pwm()
+#update_motor_pwm()
 event_loop = uasyncio.get_event_loop()
-# event_loop.create_task(update_display())
+event_loop.create_task(update_display())
-
+update_display()
-# #event_loop.create_task(update_motor_pwm())
+#event_loop.create_task(update_motor_pwm())
 #event_loop.run_forever()