84 lines
2.7 KiB
Rust
84 lines
2.7 KiB
Rust
#![no_std]
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#![no_main]
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#![deny(
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clippy::mem_forget,
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reason = "mem::forget is generally not safe to do with esp_hal types, especially those \
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holding buffers for the duration of a data transfer."
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)]
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use esp_hal::clock::CpuClock;
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use esp_hal::mcpwm::operator::PwmPinConfig;
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use esp_hal::mcpwm::timer::PwmWorkingMode;
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use esp_hal::time::Rate;
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use esp_hal::timer::timg::TimerGroup;
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use esp_hal::main;
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use esp_hal::time::{Duration, Instant};
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use esp_hal::delay::Delay;
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use rtt_target::rprintln;
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#[panic_handler]
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fn panic(_: &core::panic::PanicInfo) -> ! {
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loop {}
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}
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extern crate alloc;
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// This creates a default app-descriptor required by the esp-idf bootloader.
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// For more information see: <https://docs.espressif.com/projects/esp-idf/en/stable/esp32/api-reference/system/app_image_format.html#application-description>
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esp_bootloader_esp_idf::esp_app_desc!();
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#[main]
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fn main() -> ! {
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// generator version: 1.0.1
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rtt_target::rtt_init_print!();
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let config = esp_hal::Config::default().with_cpu_clock(CpuClock::max());
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let peripherals = esp_hal::init(config);
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let system = peripherals.SYSTEM;
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let mut delay = Delay::new();
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esp_alloc::heap_allocator!(#[esp_hal::ram(reclaimed)] size: 65536);
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let clock_config = esp_hal::mcpwm::PeripheralClockConfig::with_frequency(Rate::from_mhz(32)).unwrap();
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let mut mcpwm = esp_hal::mcpwm::McPwm::new(peripherals.MCPWM0, clock_config);
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mcpwm.operator0.set_timer(&mcpwm.timer0);
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let pin = peripherals.GPIO18;
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let mut pwm_pin = mcpwm.operator0.with_pin_a(pin, PwmPinConfig::UP_ACTIVE_HIGH);
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let timer_clock_cfg = clock_config
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.timer_clock_with_frequency(19_999, PwmWorkingMode::Increase, Rate::from_hz(50))
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.unwrap();
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mcpwm.timer0.start(timer_clock_cfg);
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pwm_pin.set_timestamp(1000);
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delay.delay_millis(3000);
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rprintln!("WUT?");
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pwm_pin.set_timestamp(1121);
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delay.delay_millis(1000);
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pwm_pin.set_timestamp(1055);
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delay.delay_millis(3000);
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// Example: Ramp from 0% to 50% throttle
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//the afro esc starts turning at roughly setup gets a PWM at
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//loop{
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// for pulse in 1120..1500 {
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// rprintln!("pulse:{}",pulse);
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// pwm_pin.set_timestamp(pulse);
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// Timer::after_millis(3000).await;
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// }
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// Timer::after_millis(1000).await;
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// // Return to idle
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// pwm_pin.set_timestamp(1000);
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// Timer::after_millis(1000).await;
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// }
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loop {
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rprintln!("Hello world!");
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delay.delay_millis(3000);
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}
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// 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
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}
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