rpm sensor+pwm is working in a slightly cursed way

src/main.py

@@ -1,7 +1,7 @@
 # test of printing multiple fonts to the ILI9341 on an M5Stack using H/W SP
 # MIT License; Copyright (c) 2017 Jeffrey N. Magee
 from ili934xnew import ILI9341, color565
-from machine import Pin, SPI,Timer
+from machine import Pin, SPI,Timer, UART,PWM
 from ST7735 import TFT,TFTColor
 import m5stack
 import tt14
@@ -80,7 +80,7 @@ def fafo():
                         for col in range(w):
                             bgr = f.read(3)
                             tft._pushcolor(TFTColor(bgr[2],bgr[1],bgr[0]))
-    time.sleep(10)
+    time.sleep(5)
 def tftprinttest():
     tft.fill(TFT.BLACK)
     v = 30
@@ -155,17 +155,17 @@ def draw_rpm(rpm):
 
 def deposit_view(state, rotary):
     # display.fill_rect(0, 0, 127, 14, 1)
-    display.text("Deposit")
+    display.print("Deposit")
     draw_rpm(state["rpm"])
-    display.text("Press to")
+    display.print("Press to")
-    display.text("continue")
+    display.print("continue")
 
 
 def coating_view(state, rotary):
     # display.fill_rect()
-    display.text("Coating")
+    display.print("Coating")
     draw_rpm(state["rpm"])
-    display.text("{: >{w}} sec".format(state["timer"], w=4))
+    display.print("{: >{w}} sec".format(state["timer"], w=4))
 
 
 def decode_ESC_telemetry(data, motor_poles=14):
@@ -201,7 +201,7 @@ async def update_display():
     global state
     global rotary
     while True:
-        display.fill(color565(0,0,0))
+        display.print("LOLOLOL")
         state["view"](state, rotary)
         await uasyncio.sleep_ms(200)
 
@@ -210,7 +210,7 @@ async def update_motor():
     global state
     #we want to use 18 for the SPI-Bus!
     #https://docs.micropython.org/en/latest/esp32/quickref.html#hardware-spi-bus
-    dshot = Dshot(pin=Pin(26))
+    dshot = Dshot(pin=Pin(25))
     rpm_pid = PID(
         Kp=config["PID"]["Kp"],
         Ki=config["PID"]["Ki"],
@@ -229,14 +229,14 @@ async def update_motor():
             if telemetry is not None:
                 state["rpm"] = telemetry[5]
                 throttle = rpm_pid(state["rpm"])
-                # print(
+                print(
-                #     "Throttle:",
+                    "Throttle:",
-                #     throttle,
+                    throttle,
-                #     "pid components:",
+                    "pid components:",
-                #     rpm_pid.components,
+                    rpm_pid.components,
-                #     "RPM:",
+                    "RPM:",
-                #     state["rpm"],
+                    state["rpm"],
-                # )
+                )
 
         if state["target_rpm"] == 0 and state["rpm"] < 1000:
             throttle = 0
@@ -244,13 +244,87 @@ async def update_motor():
         dshot.set_throttle(throttle)
 
         await uasyncio.sleep_ms(1)
+def update_motor_pwm():
+    pwm = PWM(Pin(26))
+    rpm_pid = PID(
+        Kp=config["PID"]["Kp"],
+        Ki=config["PID"]["Ki"],
+        Kd=config["PID"]["Kd"],
+        setpoint=0,
+        sample_time=None,
+        output_limits=(0.0, 1.0),
+        # proportional_on_measurement=True,
+    )
+    pwm.freq(50) 
+    # pwm.duty_u16(1638)
+    # pwm.duty_u16(8192)
+    # set_throttle(pwm,1055)
+    pwm.duty_ns(1055*10**3)
+    time.sleep(1)
+    pwm.duty_ns(1070*10**3)
+    
+    time.sleep(10)
+    global rpm_counter 
+    rpm_counter= 0
+    pwm.duty_ns(1200*10**3)
+    time.sleep(10)
+    global rpm_counter 
+    rpm_counter= 0
+    pwm.duty_ns(1400*10**3)
+    time.sleep(60)
+    pwm.duty_ns(1055*10**3)
 
+    # 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)
+    while True:
+        rpm_pid.setpoint = state["target_rpm"]
+
+        # read ESC telemetry
+        if uart.any() >= 10:
+            telemetry = decode_ESC_telemetry(uart.read())
+            if telemetry is not None:
+                state["rpm"] = telemetry[5]
+                throttle = rpm_pid(state["rpm"])
+                print(
+                    "Throttle:",
+                    throttle,
+                    "pid components:",
+                    rpm_pid.components,
+                    "RPM:",
+                    state["rpm"],
+                )
+
+        if state["target_rpm"] == 0 and state["rpm"] < 1000:
+            throttle = 0
+            rpm_pid.reset()
+def set_throttle(pwm,us):
+    hertz = 50
+    #we now have to calculate the duty_cycle!
+    # Period defined as 1/Hertz, we need to multiply by 1_000_000 to calculate to microseconds
+    period = (1/hertz)*1000000
+    # us = max(1060, min(1860, us))
+    #our thing has to be one for x microseconds during the period!
+    duty_cycle_percentage = (us/period)*100
+         
+    duty = int((duty_cycle_percentage/100))*65535
+    print(duty)
+    pwm.duty_u16(duty)
 
 def debounce_button(p):
     p.irq(trigger=Pin.IRQ_FALLING, handler=None)  # remove irq
     timer0 = Timer(0)
     timer0.init(period=20, mode=Timer.ONE_SHOT, callback=lambda t: on_button_press(p))
 
+rpm_counter = 0
+def rpm_count(p):
+    global rpm_counter
+    rpm_counter+=1
+
 
 def on_button_press(p):
     p.irq(trigger=Pin.IRQ_FALLING, handler=debounce_button)  # restore irq
@@ -264,7 +338,6 @@ def on_button_press(p):
             state["view"] = edit_deposit_view
             rotary.set(
                 min_val=0,
-                max_val=1000,
                 range_mode=RotaryIRQ.RANGE_BOUNDED,
                 value=int(0.01 * config["deposit_rpm"]),
             )
@@ -285,6 +358,7 @@ 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,
@@ -295,8 +369,8 @@ def on_button_press(p):
         save_config()
         rotary.set(min_val=0, max_val=1, range_mode=RotaryIRQ.RANGE_BOUNDED, value=0)
         state["view"] = start_view
-        return
     if state["view"] == deposit_view:
+        return
         state["view"] = coating_view
         start_coating(state)
         return
@@ -363,7 +437,6 @@ timer2 = Timer(2)
 # CS		CS
 # GND		GND
 # VCC		VCC
-print("BOOOOOOTTT2T")
 spi = SPI(
     2,
     baudrate=40000000,
@@ -384,7 +457,7 @@ display = tft
 tft.initr()
 tft.rgb(True)
 #tftprinttest()
-
+uart = UART(1, baudrate=115200, rx=5)  # to receive ESC telemetry
 rotary = RotaryIRQ(
     pin_num_clk=25,
     pin_num_dt=13,
@@ -395,6 +468,10 @@ rotary = RotaryIRQ(
 )
 button = Pin(15, Pin.IN, Pin.PULL_UP)
 button.irq(trigger=Pin.IRQ_FALLING, handler=on_button_press)
+#interrupt for rpm sensor!
+rpm_pin = Pin(19, Pin.IN, Pin.PULL_UP)
+rpm_pin.irq(trigger=Pin.IRQ_FALLING, handler=rpm_count)
+
 state = {
     "view": start_view,
     "rpm": 0,
@@ -410,13 +487,32 @@ with open("config.json", "r") as f:
 tft.fill(TFT.BLACK)
 
 # splash()
-fafo()
+#fafo()
 # for ff in fonts:
 #     display.set_font(ff)
 #     display.print(text)
-event_loop = uasyncio.get_event_loop()
+update_motor_pwm()
-event_loop.create_task(update_display())
+print(rpm_counter)
+# event_loop = uasyncio.get_event_loop()
+# event_loop.create_task(update_display())
 
-#event_loop.create_task(update_motor())
+# event_loop.create_task(update_motor_pwm())
-event_loop.run_forever()
+# event_loop.run_forever()
+# pwm = PWM(Pin(26))
+    # rpm_pid = PID(
+    #     Kp=config["PID"]["Kp"],
+    #     Ki=config["PID"]["Ki"],
+    #     Kd=config["PID"]["Kd"],
+    #     setpoint=0,
+    #     sample_time=None,
+    #     output_limits=(0.0, 1.0),
+    #     # proportional_on_measurement=True,
+    # )
+# pwm.freq(50) 
+#     # pwm.duty_u16(1638)
+#     # pwm.duty_u16(8192)
+# # set_throttle(pwm,1055)
+# pwm.duty_ns(1055*10**3)
+# time.sleep(3)
+# pwm.duty_ns(1070*10**3)