diff --git a/spinnyboy_rust/src/bin/dc_driver/dshot.rs b/spinnyboy_rust/src/bin/dc_driver/dshot.rs index 7249a05..d2b65b7 100644 --- a/spinnyboy_rust/src/bin/dc_driver/dshot.rs +++ b/spinnyboy_rust/src/bin/dc_driver/dshot.rs @@ -16,7 +16,7 @@ fn calculate_crc(frame: u16) -> u16 { IFlight XING-E Pro 2207 2750KV */ const XING_EPRO_22_POLES: u32 = 4; - +const XING_EPRO_22_MAGNETS: u32 = 14; #[allow(dead_code)] #[allow(non_camel_case_types)] #[derive(Debug)] @@ -322,7 +322,7 @@ impl<'a> DShot<'a> { let period_ms: u32 = (mantissa << exp).into(); let erpm = (60 * 1_000_000) / period_ms; - let rpm = erpm/XING_EPRO_22_POLES; + let rpm = erpm/(XING_EPRO_22_MAGNETS/2); self.rpm.set(Some(rpm)) } } diff --git a/spinnyboy_rust/src/bin/main.rs b/spinnyboy_rust/src/bin/main.rs index 834c2da..5faba26 100644 --- a/spinnyboy_rust/src/bin/main.rs +++ b/spinnyboy_rust/src/bin/main.rs @@ -12,18 +12,18 @@ use esp_hal::delay::Delay; use esp_hal::uart::{Config, Uart}; use esp_hal::{gpio, main}; +use core::fmt::Debug; use esp_hal::gpio::{Event, OutputConfig}; use esp_hal::gpio::{Input, InputConfig}; use esp_hal::handler; use esp_hal::rmt::{Rmt, TxChannelConfig, TxChannelCreator}; -use esp_hal::time::{ Instant, Rate}; -use core::fmt::Debug; +use esp_hal::time::{Instant, Rate}; //pid-controller use core::time::Duration; use discrete_pid::pid::PidContext; +use discrete_pid::time::InstantLike; use discrete_pid::time::Millis; use discrete_pid::{pid, time}; -use discrete_pid::time::InstantLike; use core::cell::RefCell; use core::mem::forget; @@ -43,12 +43,16 @@ use crate::dc_driver::dshot; use crate::peripherals::ErrCommand; use esp_hal::rmt::RxChannelConfig; use esp_hal::rmt::RxChannelCreator; + +use esp_hal::timer::OneShotTimer; +use esp_hal::timer::Timer; +use esp_hal::timer::timg::TimerGroup; #[panic_handler] fn panic(panic: &core::panic::PanicInfo) -> ! { - rprintln!("{}",panic.message()); + rprintln!("{}", panic.message()); let trace = Backtrace::capture(); loop { - // rprintln!("{}",panic.location().unwrap()) + rprintln!("{}", panic.location().unwrap()) } } use alloc::format; @@ -78,8 +82,6 @@ impl InstantLike for Time { } } - - #[main] fn main() -> ! { // generator version: 1.0.1 @@ -126,44 +128,21 @@ fn main() -> ! { //PID-Controller let loop_time = Duration::from_micros(10); let cfg = pid::PidConfigBuilder::default() - .kp(3.0) - .ki(1.0).output_limits(100.00, 2040.00) - .sample_time(loop_time) - .filter_tc(0.1) - .build() - .expect("Failed to build a PID configuration"); - let controller = pid::FuncPidController::new(cfg); + .kp(2.0) + .ki(0.0) + .output_limits(100.00, 400.00) + .sample_time(loop_time) + .filter_tc(0.1) + .build() + .expect("Failed to build a PID configuration"); + let controller = pid::FuncPidController::new(cfg); let mut ctx = PidContext::new(Millis(0), 0.0, 0.0); let set_point = DEFAULT_TARGET_RPM; - dshot_esc.arm(); let mut rpm = 0; let mut control: f32 = 200.0; - // let timestamp = Instant::now(); - loop { - dshot_esc.process(); - //let control_val = dc_driver:: - //this bad boy needs floats, this will be fun :) - dshot_esc.set_throttle(control as _); - rpm = match dshot_esc.get_rpm() { - Some(x) => { - // rprintln!("GOT RPM {}", x); - x - } - None => { - rprintln!("NO RPM!"); - rpm - } - }; - // rprintln!("RPM:{}",rpm); - let last_time = esp_hal::time::Instant::now(); - - let timestamp = esp_hal::time::Instant::now().duration_since_epoch().as_millis(); - (control, ctx) = controller.compute(ctx, rpm as _, set_point as _, Millis(timestamp), None); - let dumped_context = ctx.last_time().expect("LAST TIME!"); - rprintln!("control:{},rpm:{}", control,rpm); - } - - // rprintln!("RMT SENT!"); + let mut timg0 = TimerGroup::new(peripherals.TIMG0); + let coat_timer = timg0.timer0; + // shot_esc.set_throttle(0); // let mut esc = AfroEsc::new(&mut pwm_pin);; // esc.set_timestamp(1000); // delay.delay_millis(3000); @@ -196,7 +175,7 @@ fn main() -> ! { .with_rx(peripherals.GPIO5) .with_tx(peripherals.GPIO7); let mut display = Nextion::new(&mut uart0); - + //we just set it to page0 to be sure display.send_command(b"page page0"); let mut _rpm = DEFAULT_TARGET_RPM; let mut _timer = DEFAULT_SPIN_TIME; @@ -209,6 +188,7 @@ fn main() -> ! { } Ok(Command::Start) => { rprintln!("START"); + display.send_command(b"page page2"); started = true; } Ok(Command::Stop) => { @@ -235,12 +215,63 @@ fn main() -> ! { Err(ErrCommand::ReadError) => { rprintln!("READ FAILED!"); } + _ => { + rprintln!("This should never happen!") + } } // display.send_command(b"page page0"); } if started { - // spincoater.armed(); - rprintln!("STARTING!") + rprintln!("STARTING!"); + let _ = coat_timer + .load_value(esp_hal::time::Duration::from_secs(10)) + .expect("TODO: Could not set timer for coating! "); + dshot_esc.arm(); + let mut rpm_fail_ctr = 0; + coat_timer.start(); + while !coat_timer.is_interrupt_set() { + dshot_esc.process(); + //let control_val = dc_driver:: + //this bad boy needs floats, this will be fun :) + control = 200.00; + dshot_esc.set_throttle(control as _); + rpm = match dshot_esc.get_rpm() { + Some(x) => { + // rprintln!("GOT RPM {}", x); + x + } + None => { + rpm_fail_ctr+=1; + // rprintln!("NO RPM!"); + rpm + } + }; + // rprintln!("RPM:{}",rpm); + let last_time = esp_hal::time::Instant::now(); + + let timestamp = esp_hal::time::Instant::now() + .duration_since_epoch() + .as_millis(); + (control, ctx) = + controller.compute(ctx, rpm as _, set_point as _, Millis(timestamp), None); + let dumped_context = ctx.last_time().expect("LAST TIME!"); + rprintln!("control:{},rpm:{}", control,rpm); + //first we send the RPM! + if display.write_ready(){ + let running_rpm = format!("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()); + + } + } + + rprintln!("COATING done!"); + rprintln!("RPM_READ_FAILS {}",rpm_fail_ctr); + started = false; + display.send_command(b"page page0"); } } } diff --git a/spinnyboy_rust/src/bin/peripherals/nextion.rs b/spinnyboy_rust/src/bin/peripherals/nextion.rs index b25ae65..ce11981 100644 --- a/spinnyboy_rust/src/bin/peripherals/nextion.rs +++ b/spinnyboy_rust/src/bin/peripherals/nextion.rs @@ -123,6 +123,9 @@ impl<'a> Nextion<'a> { pub fn read_ready(&mut self) -> bool { self.interface.read_ready() } + pub fn write_ready(&mut self) -> bool { + self.interface.write_ready() + } fn reset(&mut self) { self.state = UartStatemachine::WaitingP; self.idx = 0;