spinnyboy_rust/src/bin/dc_driver/afroesc.rs

@@ -6,12 +6,11 @@ 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;
@@ -19,11 +18,7 @@ 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};
+      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);
@@ -37,8 +32,4 @@ 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

@@ -11,30 +11,19 @@ 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.
@@ -58,6 +47,7 @@ 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);
@@ -65,29 +55,19 @@ 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.GPIO10)
+        .with_rx(peripherals.GPIO9)
-        .with_tx(peripherals.GPIO11);
+        .with_tx(peripherals.GPIO10);
     uart0.write(b"page page1");
     uart0.write(b"\xff");
     uart0.write(b"\xff");
@@ -117,29 +97,3 @@ 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()
-    });
-}