adds blocking pwm working impl for the spinnyboy in rust based on the esp32c6

spinnyboy_rust/.cargo/config.toml

@@ -0,0 +1,16 @@
+[target.riscv32imac-unknown-none-elf]
+runner = "probe-rs run --chip=esp32c6 --preverify --always-print-stacktrace --no-location --catch-hardfault"
+
+[env]
+
+[build]
+rustflags = [
+  # Required to obtain backtraces (e.g. when using the "esp-backtrace" crate.)
+  # NOTE: May negatively impact performance of produced code
+  "-C", "force-frame-pointers",
+]
+
+target = "riscv32imac-unknown-none-elf"
+
+[unstable]
+build-std = ["alloc", "core"]

spinnyboy_rust/.gitignore

@@ -0,0 +1,22 @@
+# will have compiled files and executables
+debug/
+target/
+
+# Editor configuration
+.vscode/
+.zed/
+.helix/
+.nvim.lua
+
+# These are backup files generated by rustfmt
+**/*.rs.bk
+
+# MSVC Windows builds of rustc generate these, which store debugging information
+*.pdb
+
+# RustRover
+#  JetBrains specific template is maintained in a separate JetBrains.gitignore that can
+#  be found at https://github.com/github/gitignore/blob/main/Global/JetBrains.gitignore
+#  and can be added to the global gitignore or merged into this file.  For a more nuclear
+#  option (not recommended) you can uncomment the following to ignore the entire idea folder.
+#.idea/

spinnyboy_rust/Cargo.toml

@@ -0,0 +1,34 @@
+[package]
+edition      = "2024"
+name         = "spinnyboy_rust"
+rust-version = "1.88"
+version      = "0.1.0"
+
+[[bin]]
+name = "spinnyboy_rust"
+path = "./src/bin/main.rs"
+
+[dependencies]
+esp-hal = { version = "1.0.0", features = ["esp32c6", "unstable"] }
+
+
+esp-bootloader-esp-idf = { version = "0.4.0", features = ["esp32c6"] }
+
+critical-section = "1.2.0"
+esp-alloc        = "0.9.0"
+rtt-target       = "0.6.2"
+
+
+[profile.dev]
+# Rust debug is too slow.
+# For debug builds always builds with some optimization
+opt-level = "s"
+
+[profile.release]
+codegen-units    = 1     # LLVM can perform better optimizations using a single thread
+debug            = 2
+debug-assertions = false
+incremental      = false
+lto              = 'fat'
+opt-level        = 's'
+overflow-checks  = false

spinnyboy_rust/build.rs

@@ -0,0 +1,56 @@
+fn main() {
+    linker_be_nice();
+    // make sure linkall.x is the last linker script (otherwise might cause problems with flip-link)
+    println!("cargo:rustc-link-arg=-Tlinkall.x");
+}
+
+fn linker_be_nice() {
+    let args: Vec<String> = std::env::args().collect();
+    if args.len() > 1 {
+        let kind = &args[1];
+        let what = &args[2];
+
+        match kind.as_str() {
+            "undefined-symbol" => match what.as_str() {
+                "_defmt_timestamp" => {
+                    eprintln!();
+                    eprintln!(
+                        "💡 `defmt` not found - make sure `defmt.x` is added as a linker script and you have included `use defmt_rtt as _;`"
+                    );
+                    eprintln!();
+                }
+                "_stack_start" => {
+                    eprintln!();
+                    eprintln!("💡 Is the linker script `linkall.x` missing?");
+                    eprintln!();
+                }
+                "esp_rtos_initialized" | "esp_rtos_yield_task" | "esp_rtos_task_create" => {
+                    eprintln!();
+                    eprintln!(
+                        "💡 `esp-radio` has no scheduler enabled. Make sure you have initialized `esp-rtos` or provided an external scheduler."
+                    );
+                    eprintln!();
+                }
+                "embedded_test_linker_file_not_added_to_rustflags" => {
+                    eprintln!();
+                    eprintln!(
+                        "💡 `embedded-test` not found - make sure `embedded-test.x` is added as a linker script for tests"
+                    );
+                    eprintln!();
+                }
+                _ => (),
+            },
+            // we don't have anything helpful for "missing-lib" yet
+            _ => {
+                std::process::exit(1);
+            }
+        }
+
+        std::process::exit(0);
+    }
+
+    println!(
+        "cargo:rustc-link-arg=--error-handling-script={}",
+        std::env::current_exe().unwrap().display()
+    );
+}

spinnyboy_rust/rust-toolchain.toml

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+[toolchain]
+channel    = "stable"
+components = ["rust-src"]
+targets = ["riscv32imac-unknown-none-elf"]

spinnyboy_rust/shell.nix

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+{ pkgs ? import <nixpkgs> {}}:
+let rust-toolchain = with pkgs; symlinkJoin {
+    name = "rust-toolchain";
+    paths = [
+    probe-rs-tools
+    rustup
+    rustc
+      cargo
+      rustfmt
+      rust-analyzer
+      clippy
+      rustPlatform.rustcSrc
+    ];
+  };
+in pkgs.mkShell {
+  buildInputs = [rust-toolchain];
+  RUST_SRC_PATH = "${pkgs.rust.packages.stable.rustPlatform.rustLibSrc}";
+  RUST_BACKTRACE = 1;
+}

spinnyboy_rust/src/bin/main.rs

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+#![no_std]
+#![no_main]
+#![deny(
+    clippy::mem_forget,
+    reason = "mem::forget is generally not safe to do with esp_hal types, especially those \
+    holding buffers for the duration of a data transfer."
+)]
+
+use esp_hal::clock::CpuClock;
+use esp_hal::mcpwm::operator::PwmPinConfig;
+use esp_hal::mcpwm::timer::PwmWorkingMode;
+use esp_hal::time::Rate;
+use esp_hal::timer::timg::TimerGroup;
+use esp_hal::main;
+use esp_hal::time::{Duration, Instant};
+use esp_hal::delay::Delay;
+use rtt_target::rprintln;
+#[panic_handler]
+fn panic(_: &core::panic::PanicInfo) -> ! {
+    loop {}
+}
+
+extern crate alloc;
+
+// This creates a default app-descriptor required by the esp-idf bootloader.
+// For more information see: <https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-reference/system/app_image_format.html#application-description>
+esp_bootloader_esp_idf::esp_app_desc!();
+
+#[main]
+fn main() -> ! {
+    // generator version: 1.0.1
+
+    rtt_target::rtt_init_print!();
+
+    let config = esp_hal::Config::default().with_cpu_clock(CpuClock::max());
+    let peripherals = esp_hal::init(config);
+    let system = peripherals.SYSTEM;
+    let mut delay = Delay::new();
+
+    esp_alloc::heap_allocator!(#[esp_hal::ram(reclaimed)] size: 65536);
+    let clock_config = esp_hal::mcpwm::PeripheralClockConfig::with_frequency(Rate::from_mhz(32)).unwrap();
+    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);
+        let timer_clock_cfg = clock_config
+        .timer_clock_with_frequency(19_999, PwmWorkingMode::Increase, Rate::from_hz(50))
+        .unwrap();
+    mcpwm.timer0.start(timer_clock_cfg);
+
+    pwm_pin.set_timestamp(1000);
+    delay.delay_millis(3000); 
+    rprintln!("WUT?");
+    pwm_pin.set_timestamp(1121);
+    delay.delay_millis(1000);    
+    
+    pwm_pin.set_timestamp(1055);
+    delay.delay_millis(3000);    
+        
+    // Example: Ramp from 0% to 50% throttle
+        //the afro esc starts turning at roughly setup gets a PWM at 
+    //loop{
+    //     for pulse in 1120..1500 {
+    //         rprintln!("pulse:{}",pulse);
+    //         pwm_pin.set_timestamp(pulse);
+    //         Timer::after_millis(3000).await;
+    //     }
+        
+    //     Timer::after_millis(1000).await;
+        
+    //     // Return to idle
+    //     pwm_pin.set_timestamp(1000);
+    //     Timer::after_millis(1000).await;
+    // }
+
+    loop {
+        rprintln!("Hello world!");
+    delay.delay_millis(3000);    
+
+    }
+
+    // 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
+}

spinnyboy_rust/src/lib.rs

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+#![no_std]