From 432b4552c36e62f0250b1dafa285bf16f638e793 Mon Sep 17 00:00:00 2001
From: Andy Killorin <37423245+Speedy6451@users.noreply.github.com>
Date: Tue, 29 Oct 2024 11:15:25 -0400
Subject: [PATCH] change pwm to match talon sr spec

---
 inside/src/main.rs | 30 +++++++++++++-----------------
 1 file changed, 13 insertions(+), 17 deletions(-)

diff --git a/inside/src/main.rs b/inside/src/main.rs
index ac9e6d7..d3e9ef8 100644
--- a/inside/src/main.rs
+++ b/inside/src/main.rs
@@ -70,11 +70,10 @@ async fn main(spawner: Spawner) {
     spawner.spawn(logger_task(driver)).unwrap();
 
     let mut c: pwm::Config = Default::default();
-    c.divider = 255.into();
-    c.top = 8715;
-    c.compare_b = 7210;
-    c.compare_a = 2240;
-    let mut pwm = Pwm::new_output_ab(p.PWM_SLICE1, p.PIN_18, p.PIN_19, c.clone());
+    c.divider = 40.into();
+    c.top = 62_500; // 20ms
+    c.compare_b = 4687; // 1.5ms
+    let mut pwm = Pwm::new_output_b(p.PWM_SLICE0, p.PIN_1, c.clone());
     
     let fw = include_bytes!("../../cyw43-firmware/43439A0.bin");
     let clm = include_bytes!("../../cyw43-firmware/43439A0_clm.bin");
@@ -129,10 +128,10 @@ async fn main(spawner: Spawner) {
         socket.set_timeout(Some(Duration::from_secs(3)));
 
         let mut c: pwm::Config = Default::default();
-        c.divider = 255.into();
-        c.top = 8715;
-        c.compare_b = 0;
-        c.compare_a = 0;
+        c.divider = 40.into();
+        c.top = 62_500; // 20ms
+        // 3125 counts per ms
+        c.compare_b = 4687; // 1.5ms
         pwm.set_config(&c);
 
         control.gpio_set(0, false).await;
@@ -166,15 +165,12 @@ async fn main(spawner: Spawner) {
 
             match char::from_u32(segs.next().unwrap()[0] as u32).unwrap() {
                 'D' => {
-                    let left: [u8;2] =  hex::FromHex::from_hex(segs.next().unwrap()).unwrap();
-                    let right: [u8;2] =  hex::FromHex::from_hex(segs.next().unwrap()).unwrap();
-                    info!("left {:?}, right {left:?}", right);
+                    let pwr: [u8;2] =  hex::FromHex::from_hex(segs.next().unwrap()).unwrap();
+                    info!("power {pwr:?}");
 
-                    let left = u16::from_be_bytes(left);
-                    c.compare_a = left;
-                    let right = u16::from_be_bytes(right);
-                    c.compare_b = right;
-                    info!("left {:?}, right {left:?}", right);
+                    let pwr = u16::from_be_bytes(pwr);
+                    c.compare_b = pwr;
+                    info!("power {pwr:?}");
                     pwm.set_config(&c);
                 },
                 _ => {}