esp motor control

inside/Cargo.lock

@@ -526,6 +526,12 @@ version = "0.5.0"
 source = "registry+https://github.com/rust-lang/crates.io-index"
 checksum = "2304e00983f87ffb38b55b444b5e3b60a884b5d30c0fca7d82fe33449bbe55ea"
 
+[[package]]
+name = "hex"
+version = "0.4.3"
+source = "registry+https://github.com/rust-lang/crates.io-index"
+checksum = "7f24254aa9a54b5c858eaee2f5bccdb46aaf0e486a595ed5fd8f86ba55232a70"
+
 [[package]]
 name = "ident_case"
 version = "1.0.1"
@@ -547,6 +553,7 @@ name = "inside"
 version = "0.1.0"
 dependencies = [
  "blocking-network-stack",
+ "embedded-hal 1.0.0",
  "embedded-io",
  "esp-alloc",
  "esp-backtrace",
@@ -554,6 +561,7 @@ dependencies = [
  "esp-println",
  "esp-wifi",
  "heapless",
+ "hex",
  "log",
  "smoltcp",
 ]

inside/Cargo.toml

@@ -16,6 +16,7 @@ esp-println = { version = "0.12.0", features = ["esp32", "log"] }
 log = { version = "0.4.22" }
 esp-alloc = { version = "0.5.0" }
 embedded-io = "0.6.1"
+embedded-hal = "1"
 esp-wifi = { version = "0.10.1", features = [
     "esp32",
     "phy-enable-usb",
@@ -34,6 +35,7 @@ smoltcp = { version = "0.11.0", default-features = false, features = [
     "socket-tcp",
     "socket-udp",
 ] }
+hex = { version = "0.4.3", default-features=false}
 
 [profile.dev]
 # Rust debug is too slow.

inside/rust-toolchain.toml

@@ -0,0 +1,2 @@
+[toolchain]
+channel = "esp"

inside/src/main.rs

@@ -1,13 +1,16 @@
 #![no_std]
 #![no_main]
+#![feature(const_trait_impl)]
 
 use embedded_io::{Read, ReadReady, Write};
+use embedded_hal::pwm::SetDutyCycle;
 use esp_backtrace as _;
-use esp_hal::{delay::Delay, prelude::*, rng::Rng, time::{self, Duration}};
+use esp_hal::{gpio::Io, ledc::{channel, timer, LSGlobalClkSource, Ledc, LowSpeed}, prelude::*, rng::Rng, time::{self, Duration}};
 use esp_println::{print, println};
 use esp_wifi::wifi::{utils::create_network_interface, AccessPointInfo, ClientConfiguration, Configuration, WifiError, WifiStaDevice};
-use smoltcp::iface::{SocketSet, SocketStorage};
+use smoltcp::iface::SocketStorage;
 use blocking_network_stack::{ipv4, Stack};
+use inside::handle;
 
 extern crate alloc;
 
@@ -18,8 +21,34 @@ fn main() -> ! {
     let mut config = esp_hal::Config::default();
     config.cpu_clock = CpuClock::max();
     let peripherals = esp_hal::init(config);
+    let io = Io::new(peripherals.GPIO, peripherals.IO_MUX);
+    let pin = io.pins.gpio15;
+
+    let mut ledc = Ledc::new(peripherals.LEDC);
+    ledc.set_global_slow_clock(LSGlobalClkSource::APBClk);
+    let mut lstimer0 = ledc.get_timer::<LowSpeed>(timer::Number::Timer0);
+    lstimer0
+        .configure(timer::config::Config {
+            duty: timer::config::Duty::Duty14Bit,
+            clock_source: timer::LSClockSource::APBClk,
+            frequency: 50.Hz(),
+        })
+        .unwrap();
+
+
+    let mut motor = ledc.get_channel(channel::Number::Channel0, pin);
+
+    motor
+        .configure(channel::config::Config {
+            timer: &lstimer0,
+            duty_pct: 0,
+            pin_config: channel::config::PinConfig::PushPull,
+        })
+        .unwrap();
+
+    println!("max duty {}", motor.max_duty_cycle());
+    motor.set_duty_cycle(1229).unwrap();
 
-    let delay = Delay::new();
     esp_alloc::heap_allocator!(72 * 1024);
 
     esp_println::logger::init_logger_from_env();
@@ -36,7 +65,7 @@ fn main() -> ! {
 
     let mut wifi = peripherals.WIFI;
     let mut socket_set_entries: [SocketStorage; 3] = Default::default();
-    let (iface, device, mut controller, mut socket_set) =
+    let (iface, device, mut controller, socket_set) =
         create_network_interface(&init, &mut wifi, WifiStaDevice, &mut socket_set_entries).unwrap();
 
     let now = || time::now().duration_since_epoch().to_millis();
@@ -122,6 +151,7 @@ fn main() -> ! {
                     if to_print.contains("\r\n") {
                         print!("{}", to_print);
                         println!();
+                        pos += len;
                         break;
                     }
 
@@ -137,6 +167,14 @@ fn main() -> ! {
                 }
             }
 
+            let mut command = buffer[..pos].trim_ascii().split(|c| *c == b' ');
+            let buf: [u8;2] =  hex::FromHex::from_hex(command.next().unwrap()).unwrap();
+            let card: u16 = u16::from_be_bytes(buf);
+            println!("{card}");
+            motor.set_duty_cycle(card).unwrap();
+            
+            
+            handle(&buffer[..pos], &mut motor);
 
             if !time_out {
                 let _ = socket.write_all(
@@ -145,8 +183,12 @@ fn main() -> ! {
 
                 socket.flush().unwrap();
             }
+            while time::now() < deadline && socket.is_connected() {}
             socket.close();
             log::info!("ending transaction");
+            // open: 0x0533
+            // close: 0x04c8
+            motor.set_duty_cycle(1229).unwrap();
         }
 
         //let deadline = time::now() + Duration::secs(5);