2021-06-29 19:05:20 +01:00
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/*
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Name: DShot_Lib.h
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Created: 29.06.2021 19:41:44
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Author: derdoktor667
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*/
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#pragma once
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#include "BlheliCmdMap.h"
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#include <Arduino.h>
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#include <driver/rmt.h>
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#include <string>
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constexpr auto DSHOT_CLK_DIVIDER = 8; // ...slow down RMT clock to 10 ticks => 1ns
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constexpr auto DSHOT_PACKET_LENGTH = 17; // ...last pack is the pause
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constexpr auto DSHOT_THROTTLE_MIN = 48;
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constexpr auto DSHOT_THROTTLE_MAX = 2047;
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constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000;
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2021-06-29 21:31:00 +01:00
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constexpr auto DSHOT_PAUSE = 65; // ...25<EFBFBD>s break between dshot packets
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constexpr auto DSHOT_PAUSE_BIDIRECTIONAL = DSHOT_PAUSE; // ...same
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2021-06-29 19:05:20 +01:00
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constexpr auto DSHOT_PAUSE_BIT = 16;
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constexpr auto F_CPU_RMT = 80000000L;
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constexpr auto RMT_CYCLES_PER_SEC = (F_CPU_RMT / DSHOT_CLK_DIVIDER);
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constexpr auto RMT_CYCLES_PER_ESP_CYCLE = (F_CPU / RMT_CYCLES_PER_SEC);
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typedef enum dshot_mode_e {
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DSHOT_OFF,
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DSHOT150,
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DSHOT300,
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DSHOT600,
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DSHOT1200
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} dshot_mode_t;
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static const char* const dshot_mode_name[] = {
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"DSHOT_OFF",
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"DSHOT150",
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"DSHOT300",
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"DSHOT600",
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"DSHOT1200"
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};
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typedef enum request_e {
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NO_TELEMETRIC,
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ENABLE_TELEMETRIC,
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} telemetric_request_t;
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typedef struct dshot_packet_s {
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uint16_t throttle_value : 11;
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telemetric_request_t telemetric_request : 1;
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uint16_t checksum : 4;
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} dshot_packet_t;
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typedef String dshot_name_t;
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typedef struct dshot_config_s {
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dshot_mode_t mode;
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dshot_name_t name_str;
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bool is_inverted;
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gpio_num_t gpio_num;
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uint8_t pin_num;
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rmt_channel_t rmt_channel;
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uint8_t mem_block_num;
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uint16_t ticks_per_bit;
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uint8_t clk_div;
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uint16_t ticks_zero_high;
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uint16_t ticks_zero_low;
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uint16_t ticks_one_high;
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uint16_t ticks_one_low;
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} dshot_config_t;
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class DShotRMT {
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public:
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DShotRMT(gpio_num_t gpio, rmt_channel_t rmtChannel);
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DShotRMT(uint8_t pin, uint8_t channel);
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~DShotRMT();
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DShotRMT(DShotRMT const&);
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DShotRMT& operator=(DShotRMT const&);
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bool begin(dshot_mode_t dshot_mode = DSHOT_OFF, bool is_bidirectional = false);
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void send_dshot_value(uint16_t throttle_value, telemetric_request_t telemetric_request = NO_TELEMETRIC);
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dshot_config_t* get_dshot_info();
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uint8_t get_dshot_clock_div();
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private:
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rmt_item32_t dshot_rmt_item[DSHOT_PACKET_LENGTH] = { };
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dshot_config_t dshot_config = { };
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rmt_config_t rmt_dshot_config = { };
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rmt_item32_t* encode_dshot_to_rmt(uint16_t parsed_packet);
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uint16_t calc_dshot_chksum(const dshot_packet_t& dshot_packet);
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uint16_t prepare_rmt_data(const dshot_packet_t& dshot_packet);
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void output_rmt_data(const dshot_packet_t& dshot_packet);
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};
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