2021-06-29 19:05:20 +01:00
|
|
|
|
/*
|
|
|
|
|
|
Name: DShot_Lib.h
|
|
|
|
|
|
Created: 29.06.2021 19:41:44
|
|
|
|
|
|
Author: derdoktor667
|
|
|
|
|
|
*/
|
|
|
|
|
|
|
|
|
|
|
|
#pragma once
|
|
|
|
|
|
|
|
|
|
|
|
#include "BlheliCmdMap.h"
|
|
|
|
|
|
#include <Arduino.h>
|
|
|
|
|
|
|
|
|
|
|
|
#include <driver/rmt.h>
|
|
|
|
|
|
#include <string>
|
|
|
|
|
|
|
|
|
|
|
|
constexpr auto DSHOT_CLK_DIVIDER = 8; // ...slow down RMT clock to 10 ticks => 1ns
|
|
|
|
|
|
constexpr auto DSHOT_PACKET_LENGTH = 17; // ...last pack is the pause
|
|
|
|
|
|
|
|
|
|
|
|
constexpr auto DSHOT_THROTTLE_MIN = 48;
|
|
|
|
|
|
constexpr auto DSHOT_THROTTLE_MAX = 2047;
|
|
|
|
|
|
constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000;
|
|
|
|
|
|
|
2021-06-30 02:06:02 +01:00
|
|
|
|
constexpr auto DSHOT_PAUSE = 65; // ...25<EFBFBD>s break between dshot packets
|
2021-06-29 21:31:00 +01:00
|
|
|
|
constexpr auto DSHOT_PAUSE_BIDIRECTIONAL = DSHOT_PAUSE; // ...same
|
2021-06-29 19:05:20 +01:00
|
|
|
|
constexpr auto DSHOT_PAUSE_BIT = 16;
|
|
|
|
|
|
|
|
|
|
|
|
constexpr auto F_CPU_RMT = 80000000L;
|
|
|
|
|
|
constexpr auto RMT_CYCLES_PER_SEC = (F_CPU_RMT / DSHOT_CLK_DIVIDER);
|
|
|
|
|
|
constexpr auto RMT_CYCLES_PER_ESP_CYCLE = (F_CPU / RMT_CYCLES_PER_SEC);
|
|
|
|
|
|
|
|
|
|
|
|
typedef enum dshot_mode_e {
|
|
|
|
|
|
DSHOT_OFF,
|
|
|
|
|
|
DSHOT150,
|
|
|
|
|
|
DSHOT300,
|
|
|
|
|
|
DSHOT600,
|
|
|
|
|
|
DSHOT1200
|
|
|
|
|
|
} dshot_mode_t;
|
|
|
|
|
|
|
|
|
|
|
|
static const char* const dshot_mode_name[] = {
|
|
|
|
|
|
"DSHOT_OFF",
|
|
|
|
|
|
"DSHOT150",
|
|
|
|
|
|
"DSHOT300",
|
|
|
|
|
|
"DSHOT600",
|
|
|
|
|
|
"DSHOT1200"
|
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
|
|
typedef enum request_e {
|
|
|
|
|
|
NO_TELEMETRIC,
|
|
|
|
|
|
ENABLE_TELEMETRIC,
|
|
|
|
|
|
} telemetric_request_t;
|
|
|
|
|
|
|
|
|
|
|
|
typedef struct dshot_packet_s {
|
|
|
|
|
|
uint16_t throttle_value : 11;
|
|
|
|
|
|
telemetric_request_t telemetric_request : 1;
|
|
|
|
|
|
uint16_t checksum : 4;
|
|
|
|
|
|
} dshot_packet_t;
|
|
|
|
|
|
|
|
|
|
|
|
typedef String dshot_name_t;
|
|
|
|
|
|
|
|
|
|
|
|
typedef struct dshot_config_s {
|
|
|
|
|
|
dshot_mode_t mode;
|
|
|
|
|
|
dshot_name_t name_str;
|
|
|
|
|
|
bool is_inverted;
|
|
|
|
|
|
gpio_num_t gpio_num;
|
|
|
|
|
|
uint8_t pin_num;
|
|
|
|
|
|
rmt_channel_t rmt_channel;
|
|
|
|
|
|
uint8_t mem_block_num;
|
|
|
|
|
|
uint16_t ticks_per_bit;
|
|
|
|
|
|
uint8_t clk_div;
|
|
|
|
|
|
uint16_t ticks_zero_high;
|
|
|
|
|
|
uint16_t ticks_zero_low;
|
|
|
|
|
|
uint16_t ticks_one_high;
|
|
|
|
|
|
uint16_t ticks_one_low;
|
|
|
|
|
|
} dshot_config_t;
|
|
|
|
|
|
|
|
|
|
|
|
class DShotRMT {
|
|
|
|
|
|
public:
|
|
|
|
|
|
DShotRMT(gpio_num_t gpio, rmt_channel_t rmtChannel);
|
|
|
|
|
|
DShotRMT(uint8_t pin, uint8_t channel);
|
|
|
|
|
|
~DShotRMT();
|
|
|
|
|
|
DShotRMT(DShotRMT const&);
|
2021-06-30 02:06:02 +01:00
|
|
|
|
// DShotRMT& operator=(DShotRMT const&);
|
2021-06-29 19:05:20 +01:00
|
|
|
|
|
|
|
|
|
|
bool begin(dshot_mode_t dshot_mode = DSHOT_OFF, bool is_bidirectional = false);
|
|
|
|
|
|
void send_dshot_value(uint16_t throttle_value, telemetric_request_t telemetric_request = NO_TELEMETRIC);
|
|
|
|
|
|
|
|
|
|
|
|
dshot_config_t* get_dshot_info();
|
|
|
|
|
|
uint8_t get_dshot_clock_div();
|
|
|
|
|
|
|
|
|
|
|
|
private:
|
|
|
|
|
|
rmt_item32_t dshot_rmt_item[DSHOT_PACKET_LENGTH] = { };
|
|
|
|
|
|
dshot_config_t dshot_config = { };
|
|
|
|
|
|
rmt_config_t rmt_dshot_config = { };
|
|
|
|
|
|
|
|
|
|
|
|
rmt_item32_t* encode_dshot_to_rmt(uint16_t parsed_packet);
|
|
|
|
|
|
uint16_t calc_dshot_chksum(const dshot_packet_t& dshot_packet);
|
|
|
|
|
|
uint16_t prepare_rmt_data(const dshot_packet_t& dshot_packet);
|
|
|
|
|
|
|
|
|
|
|
|
void output_rmt_data(const dshot_packet_t& dshot_packet);
|
|
|
|
|
|
};
|
|
|
|
|
|
|
|
|
|
|
|
|
