DShotRMT/examples/dshot300/dshot300.ino

/**
 * @file dshot300.ino
 * @brief Demo sketch for DShotRMT library
 * @author Wastl Kraus
 * @date 2025-06-11
 * @license MIT
 */

#include <Arduino.h>
#include <DShotRMT.h>

// USB serial port settings
static constexpr auto &USB_SERIAL = Serial0;
static constexpr auto USB_SERIAL_BAUD = 115200;

// Motor configuration - Pin number or GPIO_PIN
// static constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_17;
static constexpr auto MOTOR01_PIN = 17;

// Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
static constexpr dshot_mode_t DSHOT_MODE = DSHOT300;

// BiDirectional DShot Support (default: false)
static constexpr auto IS_BIDIRECTIONAL = false;

// Motor magnet count for RPM calculation
static constexpr auto MOTOR01_MAGNET_COUNT = 14;

//
// Creates the motor instance
DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE, IS_BIDIRECTIONAL);

//
void setup()
{
    // Starts the USB Serial Port
    USB_SERIAL.begin(USB_SERIAL_BAUD);

    // Initializes DShot Signal
    motor01.begin();

    USB_SERIAL.printf("CPU Freq = %lu MHz\n", getCpuFrequencyMhz());
    USB_SERIAL.printf("XTAL Freq = %lu MHz\n", getXtalFrequencyMhz());
    USB_SERIAL.printf("APB Freq = %lu Hz\n", getApbFrequency());

    USB_SERIAL.println("***********************************");
    USB_SERIAL.println("  === DShotRMT Demo started. ===   ");
    USB_SERIAL.println("Enter a throttle value (48 – 2047):");
}

//
void loop()
{
    // Safety first: start with DSHOT_MIN_THROTTLE
    static auto throttle = DSHOT_THROTTLE_MIN;

    // Performance monitoring
    static uint32_t last_stats_print = 0;

    // Takes "every" throttle value
    if (USB_SERIAL.available() > 0)
    {
        throttle = (USB_SERIAL.readStringUntil('\n').toInt());

        USB_SERIAL.println("*********************");
        USB_SERIAL.print("Throttle set to: ");
        USB_SERIAL.println(throttle);
    }

    // Sends the value to the ESC
    motor01.sendThrottle(throttle);

    // Prints out RPM if BiDirectional DShot is enabled every 2 seconds
    // printRPMPeriodically(2000);

    // Print performance statistics every 2 seconds
    if (millis() - last_stats_print >= 2000)
    {
        motor01.printTimingDiagnostics();
        print_RMT_packet();
        last_stats_print = millis();
    }
}

// Prints RPM every X_ms
void printRPMPeriodically(auto timer_ms)
{
    if (IS_BIDIRECTIONAL)
    {
        static auto last_print_time = 0;

        if (millis() - last_print_time >= timer_ms)
        {
            auto rpm = motor01.getMotorRPM(MOTOR01_MAGNET_COUNT);

            USB_SERIAL.print("RPM: ");
            USB_SERIAL.println(rpm);

            last_print_time = millis();
        }
    }
}

// Prints "raw" packet every ms
void print_RMT_packet()
{
    auto packet = motor01.getDShotPacket();

    USB_SERIAL.print("Current Frame: ");

    // Print bit by bit
    for (int i = 15; i >= 0; --i)
    {
        if ((packet >> i) & 1)
        {
            USB_SERIAL.print("1");
        }
        else
        {
            USB_SERIAL.print("0");
        }
    }

    USB_SERIAL.println("");
}