Structure

This repo is a workspace which contains both the rp2040-dshot library and the motor controller package for Sunk Robotics upcoming BOB ROV.

Building and Running

To build for release use:
cargo build --release --package rp2040-dshot --target thumbv6m-none-eabi
or
cargo build --release --package motor-controller --target thumbv6m-none-eabi,
respectively

To run, flash the left pico with picoprobe, by holding down the bootsel button while plugging it in, then moving the file into its flash storage.
Then set up a picoprobe according to the following wiring diagram:

Then run using:
cargo run --release --package motor-controller --target thumbv6m-none-eabi
This should automatically flash the target pico with the motor-controller code. You should be able to read erros and warnings through the pico probe.\

To run tests simply run:
cargo test

Configuration

In motor-controller/src/config.rs the configuration is split between i2c, dshot, and telmetry. Simply edit the values where the define_{telemetry_type}_config! macros are called. Example:

define_i2c_config! {
    peripheral: I2C0,
    scl_pin: PIN_1,
    sda_pin: PIN_0,
    addr: 0x60,
    general_call: false,
    scl_pullup: false,
    sda_pullup: false,
}

TODO

• Finish Documentation
• Get tests working on non-embedded os
• Finish writing tests for both library and motor controller code