Add Web Server
- fix warnings and update action versions - Web Server added in example - prepare release 0.7.5
This commit is contained in:
Wastl Kraus
GitHub
commit
066a06f767
|
|
@ -3,45 +3,33 @@ name: ESP32 Build & Quality Check
|
|||
on:
|
||||
push:
|
||||
branches: [ '*' ]
|
||||
release:
|
||||
types: [ published ]
|
||||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
# ============================================================================
|
||||
# Code Quality & Linting
|
||||
# ============================================================================
|
||||
quality-check:
|
||||
name: 'Code Quality'
|
||||
name: 'Arduino Lint Check'
|
||||
runs-on: ubuntu-latest
|
||||
timeout-minutes: 10
|
||||
|
||||
steps:
|
||||
- name: Checkout Repository
|
||||
uses: actions/checkout@v4
|
||||
uses: actions/checkout@v5
|
||||
|
||||
- name: Setup Arduino CLI
|
||||
uses: arduino/setup-arduino-cli@v2
|
||||
|
||||
- name: Cache Arduino data
|
||||
uses: actions/cache@v4
|
||||
with:
|
||||
path: |
|
||||
~/
|
||||
key: ${{ runner.os }}-arduino-${{ hashFiles('**/libraries/**') }}
|
||||
restore-keys: |
|
||||
${{ runner.os }}-arduino-
|
||||
|
||||
- name: Install ESP32 core
|
||||
run: |
|
||||
arduino-cli core update-index
|
||||
arduino-cli core install esp32:esp32
|
||||
arduino-cli core update-index > /dev/null
|
||||
arduino-cli core install esp32:esp32 > /dev/null
|
||||
|
||||
- name: Arduino Lint
|
||||
uses: arduino/arduino-lint-action@v1
|
||||
uses: arduino/arduino-lint-action@v2
|
||||
with:
|
||||
path: ${{ github.workspace }}
|
||||
compliance: strict
|
||||
|
|
@ -52,90 +40,39 @@ jobs:
|
|||
# Compilation Test
|
||||
# ============================================================================
|
||||
compile-test:
|
||||
name: 'Compile Example Sketch'
|
||||
name: 'Compile Example Sketches'
|
||||
runs-on: ubuntu-latest
|
||||
timeout-minutes: 15
|
||||
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
example:
|
||||
examples:
|
||||
- "examples/dshot300/dshot300.ino"
|
||||
- "examples/command_manager/command_manager.ino"
|
||||
build-flags:
|
||||
- name: "Release"
|
||||
flags: "Automated Build"
|
||||
- "examples/web_control/web_control.ino"
|
||||
|
||||
steps:
|
||||
- name: Checkout Repository
|
||||
uses: actions/checkout@v4
|
||||
uses: actions/checkout@v5
|
||||
|
||||
- name: Setup Arduino CLI
|
||||
uses: arduino/setup-arduino-cli@v2
|
||||
|
||||
- name: Cache Arduino data
|
||||
uses: actions/cache@v4
|
||||
with:
|
||||
path: |
|
||||
~/
|
||||
key: ${{ runner.os }}-arduino-${{ hashFiles('**/libraries/**') }}
|
||||
restore-keys: |
|
||||
${{ runner.os }}-arduino-
|
||||
|
||||
- name: Install ESP32 core
|
||||
- name: Install ESP32 Core and Dependencies
|
||||
run: |
|
||||
arduino-cli core update-index
|
||||
arduino-cli core install esp32:esp32
|
||||
|
||||
- name: Install Repo as Library
|
||||
arduino-cli lib install "ArduinoJson"
|
||||
|
||||
# Workround for ESPAsyncWebServer
|
||||
git clone https://github.com/ESP32Async/ESPAsyncWebServer ~/Arduino/libraries/ESPAsyncWebServer
|
||||
git clone https://github.com/ESP32Async/AsyncTCP ~/Arduino/libraries/AsyncTCP
|
||||
|
||||
- name: Compile Sketch
|
||||
run: |
|
||||
mkdir -p $HOME/Arduino/libraries
|
||||
ln -s $PWD $HOME/Arduino/libraries/DShotRMT
|
||||
|
||||
- name: Compile Example (${{ matrix.build-flags.name }})
|
||||
run: |
|
||||
arduino-cli compile --fqbn esp32:esp32:esp32 ${{ matrix.example }}
|
||||
|
||||
# ============================================================================
|
||||
# Static Code Analysis
|
||||
# ============================================================================
|
||||
static-analysis:
|
||||
name: 'Static Analysis'
|
||||
runs-on: ubuntu-latest
|
||||
timeout-minutes: 10
|
||||
|
||||
steps:
|
||||
- name: Checkout Repository
|
||||
uses: actions/checkout@v4
|
||||
|
||||
- name: Setup Arduino CLI
|
||||
uses: arduino/setup-arduino-cli@v2
|
||||
|
||||
- name: Cache Arduino data
|
||||
uses: actions/cache@v4
|
||||
with:
|
||||
path: |
|
||||
~/
|
||||
key: ${{ runner.os }}-arduino-${{ hashFiles('**/libraries/**') }}
|
||||
restore-keys: |
|
||||
${{ runner.os }}-arduino-
|
||||
|
||||
- name: Install ESP32 core
|
||||
run: |
|
||||
arduino-cli core update-index
|
||||
arduino-cli core install esp32:esp32
|
||||
|
||||
- name: Install Cppcheck
|
||||
run: sudo apt-get update && sudo apt-get install -y cppcheck
|
||||
|
||||
- name: Run Cppcheck
|
||||
run: |
|
||||
cppcheck --enable=warning,performance \
|
||||
--std=c++17 \
|
||||
--language=c++ \
|
||||
--platform=unix32 \
|
||||
--inline-suppr \
|
||||
./DShotRMT.cpp ./DShotRMT.h \
|
||||
./DShotCommandManager.cpp ./DShotCommandManager.h
|
||||
arduino-cli compile --fqbn esp32:esp32:esp32 --library ${{ github.workspace }} ${{ matrix.examples}}
|
||||
|
||||
# ============================================================================
|
||||
# Build Status Report
|
||||
|
|
@ -144,7 +81,7 @@ jobs:
|
|||
name: 'Build Summary'
|
||||
runs-on: ubuntu-latest
|
||||
if: always()
|
||||
needs: [quality-check, compile-test, static-analysis]
|
||||
needs: [quality-check, compile-test]
|
||||
|
||||
steps:
|
||||
- name: Create Build Summary
|
||||
|
|
@ -168,19 +105,11 @@ jobs:
|
|||
echo "| 🔨 Compilation | ❌ Failed | Compilation errors detected |" >> $GITHUB_STEP_SUMMARY
|
||||
fi
|
||||
|
||||
# Static Analysis Status
|
||||
if [[ "${{ needs.static-analysis.result }}" == "success" ]]; then
|
||||
echo "| 🔍 Static Analysis | ✅ Passed | No critical issues found |" >> $GITHUB_STEP_SUMMARY
|
||||
else
|
||||
echo "| 🔍 Static Analysis | ❌ Failed | Issues detected by CPPCheck |" >> $GITHUB_STEP_SUMMARY
|
||||
fi
|
||||
|
||||
echo "" >> $GITHUB_STEP_SUMMARY
|
||||
|
||||
# Overall Status
|
||||
if [[ "${{ needs.quality-check.result }}" == "success" &&
|
||||
"${{ needs.compile-test.result }}" == "success" &&
|
||||
"${{ needs.static-analysis.result }}" == "success" ]]; then
|
||||
"${{ needs.compile-test.result }}" == "success" ]]; then
|
||||
echo "## 🎉 All Checks Passed!" >> $GITHUB_STEP_SUMMARY
|
||||
echo "Your DShotRMT library is ready for deployment." >> $GITHUB_STEP_SUMMARY
|
||||
else
|
||||
|
|
|
|||
|
|
@ -13,12 +13,11 @@
|
|||
# Built Visual Studio Code Extensions
|
||||
*.vsix
|
||||
|
||||
# Caching ESP32 Builds
|
||||
# Builds
|
||||
*.code-workspace
|
||||
buildCache
|
||||
build
|
||||
examples/dshot300/debug.cfg
|
||||
examples/dshot300/esp32.svd
|
||||
examples/dshot300/debug_custom.json
|
||||
examples/dshot300/debug.svd
|
||||
/build
|
||||
/.github/chatmodes
|
||||
|
|
|
|||
228
DShotRMT.h
228
DShotRMT.h
|
|
@ -6,231 +6,5 @@
|
|||
* @license MIT
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
#include "src/DShotRMT.h"
|
||||
|
||||
#include <Arduino.h>
|
||||
#include <dshot_commands.h>
|
||||
#include <driver/gpio.h>
|
||||
#include <driver/rmt_tx.h>
|
||||
#include <driver/rmt_rx.h>
|
||||
|
||||
// DShot Protocol Constants
|
||||
static constexpr auto DSHOT_THROTTLE_FAILSAFE = 0;
|
||||
static constexpr auto DSHOT_THROTTLE_MIN = 48;
|
||||
static constexpr auto DSHOT_THROTTLE_MAX = 2047;
|
||||
static constexpr auto DSHOT_BITS_PER_FRAME = 16;
|
||||
static constexpr auto DSHOT_PAUSE_US = 30; // Additional frame pause time
|
||||
static constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000;
|
||||
static constexpr auto DSHOT_FULL_PACKET = 0b1111111111111111;
|
||||
static constexpr auto DSHOT_CRC_MASK = 0b0000000000001111;
|
||||
static constexpr auto DSHOT_RX_TIMEOUT_MS = 2; // Never reached, just a timeeout
|
||||
static constexpr auto GCR_BITS_PER_FRAME = 21; // Number of GCR bits in a DShot answer frame (1 start + 16 data + 4 CRC)
|
||||
static constexpr auto DEFAULT_MOTOR_MAGNET_COUNT = 14;
|
||||
static constexpr auto MAGNETS_PER_POLE_PAIR = 2;
|
||||
static constexpr auto MIN_POLE_PAIRS = 1;
|
||||
static constexpr auto NO_DSHOT_ERPM = 0;
|
||||
static constexpr auto NO_DSHOT_RPM = 0;
|
||||
|
||||
// RMT Configuration Constants
|
||||
constexpr auto DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
|
||||
constexpr auto DSHOT_RMT_RESOLUTION = 10 * 1000 * 1000; // 10 MHz resolution
|
||||
constexpr auto RMT_BUFFER_SIZE = DSHOT_BITS_PER_FRAME;
|
||||
constexpr auto RMT_BUFFER_SYMBOLS = 64;
|
||||
constexpr auto RMT_QUEUE_DEPTH = 1;
|
||||
|
||||
// Smallest pulse for DShot1200 is 2us. Largest for DShot150 is 40us.
|
||||
// The range is set from 3us (3000ns) to 60us (60000ns) to be safe across all modes.
|
||||
constexpr uint32_t DSHOT_PULSE_MIN = 3000;
|
||||
constexpr uint32_t DSHOT_PULSE_MAX = 60000;
|
||||
|
||||
// DShot Modes
|
||||
typedef enum
|
||||
{
|
||||
DSHOT_OFF,
|
||||
DSHOT150,
|
||||
DSHOT300,
|
||||
DSHOT600,
|
||||
DSHOT1200
|
||||
} dshot_mode_t;
|
||||
|
||||
// DShot Packet
|
||||
typedef struct
|
||||
{
|
||||
uint16_t throttle_value : 11;
|
||||
bool telemetric_request : 1;
|
||||
uint16_t checksum : 4;
|
||||
} dshot_packet_t;
|
||||
|
||||
// DShot Timing Configuration
|
||||
typedef struct
|
||||
{
|
||||
uint32_t frame_length_us;
|
||||
uint16_t ticks_per_bit;
|
||||
uint16_t ticks_one_high;
|
||||
uint16_t ticks_one_low;
|
||||
uint16_t ticks_zero_high;
|
||||
uint16_t ticks_zero_low;
|
||||
} dshot_timing_t;
|
||||
|
||||
// Error handling
|
||||
typedef struct
|
||||
{
|
||||
bool success;
|
||||
const char *msg;
|
||||
} dshot_result_t;
|
||||
|
||||
// DShot telemetry result
|
||||
typedef struct
|
||||
{
|
||||
bool success;
|
||||
uint16_t erpm;
|
||||
uint16_t motor_rpm;
|
||||
const char *msg;
|
||||
} dshot_telemetry_result_t;
|
||||
|
||||
// Naming convention
|
||||
typedef dshotCommands_e dshot_commands_t;
|
||||
|
||||
// --- HELPERS ---
|
||||
void printDShotResult(dshot_result_t &result, Stream &output = Serial);
|
||||
void printDShotTelemetry(dshot_telemetry_result_t &result, Stream &output = Serial);
|
||||
|
||||
//
|
||||
class DShotRMT
|
||||
{
|
||||
public:
|
||||
// Constructor with GPIO enum
|
||||
explicit DShotRMT(gpio_num_t gpio = GPIO_NUM_16, dshot_mode_t mode = DSHOT300, bool is_bidirectional = false);
|
||||
|
||||
// Constructor with pin number
|
||||
DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional);
|
||||
|
||||
// Destructor for "better" code
|
||||
~DShotRMT();
|
||||
|
||||
// Initialize the RMT module and DShot config
|
||||
dshot_result_t begin();
|
||||
|
||||
// Send throttle value (48-2047)
|
||||
dshot_result_t sendThrottle(uint16_t throttle);
|
||||
|
||||
// Send DShot command (0-47)
|
||||
dshot_result_t sendCommand(uint16_t command);
|
||||
|
||||
// --- GETTERS ---
|
||||
gpio_num_t getGPIO() const { return _gpio; }
|
||||
uint16_t getDShotPacket() const { return _parsed_packet; }
|
||||
bool is_bidirectional() const { return _is_bidirectional; }
|
||||
dshot_mode_t getMode() const { return _mode; }
|
||||
dshot_telemetry_result_t getTelemetry(uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT);
|
||||
|
||||
// --- INFO ---
|
||||
void printDShotInfo(Stream &output = Serial) const;
|
||||
void printCpuInfo(Stream &output = Serial) const;
|
||||
|
||||
// --- DEPRECATED METHODS ---
|
||||
[[deprecated("Use sendThrottle() instead")]]
|
||||
bool setThrottle(uint16_t throttle)
|
||||
{
|
||||
auto result = sendThrottle(throttle);
|
||||
return result.success;
|
||||
}
|
||||
|
||||
[[deprecated("Use sendCommand() instead")]]
|
||||
bool sendDShotCommand(uint16_t command)
|
||||
{
|
||||
auto result = sendCommand(command);
|
||||
return result.success;
|
||||
}
|
||||
|
||||
[[deprecated("Use getTelemetry() instead")]]
|
||||
uint32_t getMotorRPM(uint8_t magnet_count)
|
||||
{
|
||||
auto result = getTelemetry(magnet_count);
|
||||
return result.success;
|
||||
}
|
||||
|
||||
private:
|
||||
// --- CONFIG ---
|
||||
gpio_num_t _gpio;
|
||||
dshot_mode_t _mode;
|
||||
bool _is_bidirectional;
|
||||
uint32_t _frame_timer_us;
|
||||
const dshot_timing_t &_timing_config;
|
||||
uint16_t _last_throttle;
|
||||
|
||||
// --- TIMING & PACKET VARIABLES ---
|
||||
uint64_t _last_transmission_time;
|
||||
uint16_t _parsed_packet;
|
||||
dshot_packet_t _packet;
|
||||
uint8_t _bitPositions[DSHOT_BITS_PER_FRAME];
|
||||
uint16_t _level0;
|
||||
uint16_t _level1;
|
||||
|
||||
// --- RMT HARDWARE HANDLES ---
|
||||
rmt_channel_handle_t _rmt_tx_channel;
|
||||
rmt_channel_handle_t _rmt_rx_channel;
|
||||
rmt_encoder_handle_t _dshot_encoder;
|
||||
|
||||
// --- RMT CONFIG STRUCTURES ---
|
||||
rmt_tx_channel_config_t _tx_channel_config;
|
||||
rmt_rx_channel_config_t _rx_channel_config;
|
||||
rmt_transmit_config_t _transmit_config;
|
||||
rmt_receive_config_t _receive_config;
|
||||
|
||||
// --- INITS ---
|
||||
dshot_result_t _initTXChannel();
|
||||
dshot_result_t _initRXChannel();
|
||||
dshot_result_t _initDShotEncoder();
|
||||
|
||||
// --- PACKET MANAGEMENT ---
|
||||
dshot_packet_t _buildDShotPacket(const uint16_t value);
|
||||
uint16_t _parseDShotPacket(const dshot_packet_t &packet);
|
||||
uint16_t _calculateCRC(const uint16_t data);
|
||||
void _preCalculateBitPositions();
|
||||
|
||||
// --- FRAME PROCESSING ---
|
||||
dshot_result_t _sendDShotFrame(const dshot_packet_t &packet);
|
||||
bool IRAM_ATTR _encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols);
|
||||
uint16_t _decodeDShotFrame(const rmt_symbol_word_t *symbols);
|
||||
|
||||
// --- TIMING CONTROL ---
|
||||
bool IRAM_ATTR _timer_signal();
|
||||
bool _timer_reset();
|
||||
|
||||
// -- CALLBACKS ---
|
||||
rmt_rx_event_callbacks_t _rx_event_callbacks;
|
||||
volatile rmt_symbol_word_t _rx_symbols_direct[GCR_BITS_PER_FRAME];
|
||||
volatile uint16_t _last_erpm_atomic;
|
||||
volatile bool _telemetry_ready_flag;
|
||||
static bool IRAM_ATTR _rmt_rx_done_callback(rmt_channel_handle_t rmt_rx_channel, const rmt_rx_done_event_data_t *edata, void *user_data);
|
||||
|
||||
// --- DSHOT DEFAULTS ---
|
||||
static constexpr auto const DSHOT_TELEMETRY_INVALID = (0xffff);
|
||||
|
||||
// --- CONSTANTS & ERROR MESSAGES ---
|
||||
static constexpr bool DSHOT_OK = 0;
|
||||
static constexpr bool DSHOT_ERROR = 1;
|
||||
|
||||
static constexpr char const *NONE = "";
|
||||
static constexpr char const *UNKNOWN_ERROR = "Unknown Error!";
|
||||
static constexpr char const *INIT_SUCCESS = "SignalGeneratorRMT initialized successfully";
|
||||
static constexpr char const *INIT_FAILED = "SignalGeneratorRMT init failed!";
|
||||
static constexpr char const *TX_INIT_SUCCESS = "TX RMT channel initialized successfully";
|
||||
static constexpr char const *TX_INIT_FAILED = "TX RMT channel init failed!";
|
||||
static constexpr char const *RX_INIT_SUCCESS = "RX RMT channel initialized successfully";
|
||||
static constexpr char const *RX_INIT_FAILED = "RX RMT channel init failed!";
|
||||
static constexpr char const *RX_BUFFER_FAILED = "RX RMT buffer init failed!";
|
||||
static constexpr char const *ENCODER_INIT_SUCCESS = "RMT encoder initialized successfully";
|
||||
static constexpr char const *ENCODER_INIT_FAILED = "RMT encoder init failed!";
|
||||
static constexpr char const *TRANSMISSION_SUCCESS = "Transmission successfully";
|
||||
static constexpr char const *TRANSMISSION_FAILED = "Transmission failed!";
|
||||
static constexpr char const *RECEIVER_FAILED = "RMT receiver failed!";
|
||||
static constexpr char const *THROTTLE_NOT_IN_RANGE = "Throttle not in range! (48 - 2047)";
|
||||
static constexpr char const *COMMAND_NOT_VALID = "Command not valid! (0 - 47)";
|
||||
static constexpr char const *BIDIR_NOT_ENABLED = "Bidirectional DShot not enabled!";
|
||||
static constexpr char const *TELEMETRY_SUCCESS = "Valid Telemetric Frame received!";
|
||||
static constexpr char const *TELEMETRY_FAILED = "No valid Telemetric Frame received!";
|
||||
static constexpr char const *INVALID_MAGNET_COUNT = "Invalid motor magnet count!";
|
||||
static constexpr char const *TIMING_CORRECTION = "Timing correction!";
|
||||
};
|
||||
|
|
|
|||
150
README.md
150
README.md
|
|
@ -4,7 +4,8 @@
|
|||
|
||||
A modern, robust C++ library for generating DShot signals on the ESP32 using the new ESP-IDF 5 RMT encoder API (`rmt_tx.h` / `rmt_rx.h`).
|
||||
Supports all standard DShot modes (150, 300, 600, 1200) and features continuous frame transmission with configurable timing.
|
||||
**Now with BiDirectional DShot support and advanced command management!**
|
||||
|
||||
**Now with BiDirectional DShot support, advanced command management, and modern web control interface!**
|
||||
|
||||
> The legacy version (using the old `rmt.h` API) is still available in the `oldAPI` branch.
|
||||
|
||||
|
|
@ -14,8 +15,11 @@ Supports all standard DShot modes (150, 300, 600, 1200) and features continuous
|
|||
|
||||
- **All DShot Modes:** DSHOT150, DSHOT300 (default), DSHOT600, DSHOT1200
|
||||
- **BiDirectional DShot:** Full support for RPM telemetry feedback
|
||||
- **Web Control Interface:** Modern responsive web UI with WiFi access point
|
||||
- **Advanced Command Manager:** High-level API for ESC configuration and control
|
||||
- **Command Sequences:** Predefined initialization and calibration sequences
|
||||
- **Safety Features:** Arming/disarming system with motor lockout protection
|
||||
- **Dual Control Options:** Web interface and serial console control
|
||||
- **Real-time Telemetry:** Live RPM monitoring and data display
|
||||
- **Hardware-Timed Signals:** Independent, precise signal generation using ESP32 RMT peripheral
|
||||
- **Configurable Timing:** Ensures ESCs can reliably detect frame boundaries
|
||||
- **Error Handling:** Comprehensive result reporting with success/failure status
|
||||
|
|
@ -46,6 +50,25 @@ lib_deps =
|
|||
git clone https://github.com/derdoktor667/DShotRMT.git
|
||||
```
|
||||
|
||||
### Dependencies
|
||||
|
||||
The library requires these additional libraries for full functionality:
|
||||
|
||||
**Core DShotRMT (always required):**
|
||||
- ESP32 Arduino Core
|
||||
|
||||
**Web Interface Example (dshot300.ino):**
|
||||
```ini
|
||||
lib_deps =
|
||||
https://github.com/derdoktor667/DShotRMT
|
||||
bblanchon/ArduinoJson
|
||||
https://github.com/ESP32Async/ESPAsyncWebServer
|
||||
https://github.com/ESP32Async/AsyncTCP ~/Arduino/libraries/AsyncTCP
|
||||
```
|
||||
|
||||
**Command Manager Example:**
|
||||
- No additional dependencies required
|
||||
|
||||
---
|
||||
|
||||
## ⚡ Quick Start
|
||||
|
|
@ -79,6 +102,64 @@ void loop() {
|
|||
}
|
||||
```
|
||||
|
||||
### Web Control Interface
|
||||
|
||||
```cpp
|
||||
#include <DShotRMT.h>
|
||||
#include <WiFi.h>
|
||||
#include <ESPAsyncWebServer.h>
|
||||
|
||||
DShotRMT motor(17, DSHOT300, false);
|
||||
AsyncWebServer server(80);
|
||||
AsyncWebSocket ws("/ws");
|
||||
|
||||
void setup() {
|
||||
// Initialize motor
|
||||
motor.begin();
|
||||
|
||||
// Create WiFi Access Point
|
||||
WiFi.softAP("DShotRMT Control", "12345678");
|
||||
|
||||
// Setup web interface
|
||||
ws.onEvent(onWsEvent);
|
||||
server.addHandler(&ws);
|
||||
server.on("/", HTTP_GET, [](AsyncWebServerRequest *request) {
|
||||
request->send_P(200, "text/html", index_html);
|
||||
});
|
||||
server.begin();
|
||||
|
||||
// Access at http://10.10.10.1
|
||||
}
|
||||
|
||||
void loop() {
|
||||
// Handle WebSocket communication and motor control
|
||||
ws.cleanupClients();
|
||||
}
|
||||
```
|
||||
|
||||
### Advanced Command Management
|
||||
|
||||
```cpp
|
||||
#include <DShotRMT.h>
|
||||
#include <DShotCommandManager.h>
|
||||
|
||||
DShotRMT motor(17, DSHOT300, false);
|
||||
DShotCommandManager cmdManager(motor);
|
||||
|
||||
void setup() {
|
||||
motor.begin();
|
||||
cmdManager.begin();
|
||||
}
|
||||
|
||||
void loop() {
|
||||
// High-level ESC control
|
||||
cmdManager.stopMotor();
|
||||
cmdManager.activateBeacon(1);
|
||||
cmdManager.setSpinDirection(false);
|
||||
cmdManager.executeInitSequence();
|
||||
}
|
||||
```
|
||||
|
||||
### Bidirectional DShot (RPM Telemetry)
|
||||
|
||||
```cpp
|
||||
|
|
@ -108,15 +189,59 @@ void loop() {
|
|||
|
||||
---
|
||||
|
||||
## 🌐 Web Control Interface
|
||||
|
||||
The DShotRMT library now includes a modern web interface for wireless motor control:
|
||||
|
||||
### Features
|
||||
- **Responsive Design:** Works on mobile phones, tablets, and desktop computers
|
||||
- **WiFi Access Point:** Creates hotspot "DShotRMT Control" (Password: 12345678)
|
||||
- **Safety System:** Arming/disarming switch prevents accidental motor activation
|
||||
- **Real-time Control:** Instant throttle response via WebSocket communication
|
||||
- **Live Telemetry:** Real-time RPM display (bidirectional mode only)
|
||||
- **Auto-reconnect:** Automatically reconnects on connection loss
|
||||
|
||||
### Web Interface Access
|
||||
1. Connect to WiFi network: **"DShotRMT Control"**
|
||||
2. Password: **12345678**
|
||||
3. Open browser and navigate to: **http://10.10.10.1**
|
||||
|
||||
### Safety Features
|
||||
- Motor control is **disabled by default** (disarmed state)
|
||||
- Toggle the **ARMING SWITCH** to enable motor control
|
||||
- Throttle slider is **locked** when disarmed
|
||||
- **Emergency stop** resets all values to safe state
|
||||
|
||||
### Technical Implementation
|
||||
- **AsyncWebServer** for HTTP requests
|
||||
- **WebSocket** communication for real-time data
|
||||
- **JSON** message format for data exchange
|
||||
- **WiFi SoftAP** mode for standalone operation
|
||||
- **Automatic client cleanup** prevents memory leaks
|
||||
|
||||
### ⚠️ Known Issus
|
||||
Make sure you are using these libraries for [ESPAsyncWebServer](https://github.com/ESP32Async/ESPAsyncWebServer) and [AsyncTCP](https://github.com/ESP32Async/AsyncTCP) to use "web_control.ino" example sketch.
|
||||
|
||||
---
|
||||
|
||||
## 📚 Examples
|
||||
|
||||
The library includes comprehensive examples:
|
||||
|
||||
### 1. Basic DShot Control (`dshot300.ino`)
|
||||
- Simple throttle control
|
||||
- Command execution
|
||||
- Serial interface for testing
|
||||
- Telemetry reading (if bidirectional enabled)
|
||||
### 1. Basic DShot Control with Web Interface (`dshot300.ino`)
|
||||
- **Web Control Interface:** Modern responsive web UI accessible at `http://10.10.10.1`
|
||||
- **WiFi Access Point:** Creates hotspot "DShotRMT Control" for wireless control
|
||||
- **Safety Features:** Arming/disarming system with motor safety lockout
|
||||
- **Real-time Data:** Live RPM telemetry display (bidirectional mode)
|
||||
- **Dual Control:** Both web interface and serial console control
|
||||
- **WebSocket Communication:** Real-time bidirectional data exchange
|
||||
|
||||
**Web Interface Features:**
|
||||
- Responsive design optimized for mobile and desktop
|
||||
- Visual arming switch with safety lockout
|
||||
- Smooth throttle slider with real-time feedback
|
||||
- Live RPM monitoring display
|
||||
- Automatic reconnection on connection loss
|
||||
|
||||
### 2. Advanced Command Management (`command_manager.ino`)
|
||||
Interactive ESC control with full menu system:
|
||||
|
|
@ -143,12 +268,11 @@ Advanced Commands:
|
|||
|
||||
### Supported DShot Modes
|
||||
|
||||
| Mode | Bitrate | Bit Time | Frame Time | Use Case |
|
||||
|----------|-------------|----------|------------|----------|
|
||||
| DSHOT150 | 150 kbit/s | 6.67 µs | ~107 µs | Long wires, EMI-prone |
|
||||
| DSHOT300 | 300 kbit/s | 3.33 µs | ~53 µs | Standard (recommended) |
|
||||
| DSHOT600 | 600 kbit/s | 1.67 µs | ~27 µs | High performance |
|
||||
| DSHOT1200| 1200 kbit/s | 0.83 µs | ~13 µs | Racing applications |
|
||||
| DSHOT | Bitrate | TH1 | TH0 | Bit Time (µs) | Frame Time (µs) |
|
||||
|-------|-------------|-------|--------|---------------|-----------------|
|
||||
| 150 | 150 kbit/s | 5.00 | 2.50 | 6.67 | ~106.72 |
|
||||
| 300 | 300 kbit/s | 2.50 | 1.25 | 3.33 | ~53.28 |
|
||||
| 600 | 600 kbit/s | 1.25 | 0.625 | 1.67 | ~26.72 |
|
||||
|
||||
### GPIO Configuration
|
||||
```cpp
|
||||
|
|
|
|||
|
|
@ -0,0 +1,433 @@
|
|||
/**
|
||||
* @file dshot300.ino
|
||||
* @brief Demo sketch for DShotRMT library
|
||||
* @author Wastl Kraus
|
||||
* @date 2025-09-09
|
||||
* @license MIT
|
||||
*/
|
||||
|
||||
#include <Arduino.h>
|
||||
#include <WiFi.h>
|
||||
|
||||
#include <DShotRMT.h>
|
||||
|
||||
#include <ArduinoJson.h>
|
||||
#include <AsyncTCP.h>
|
||||
#include <ESPAsyncWebServer.h>
|
||||
|
||||
// Wifi Configuration
|
||||
static constexpr auto *ssid = "DShotRMT Control";
|
||||
static constexpr auto *password = "12345678";
|
||||
|
||||
IPAddress local_IP(10, 10, 10, 1);
|
||||
IPAddress gateway(0, 0, 0, 0);
|
||||
IPAddress subnet(255, 255, 255, 0);
|
||||
|
||||
// USB serial port settings
|
||||
static constexpr auto &USB_SERIAL = Serial;
|
||||
static constexpr auto USB_SERIAL_BAUD = 115200;
|
||||
|
||||
// Motor configuration - Pin number or GPIO_PIN
|
||||
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);
|
||||
|
||||
// Web Server Configuration
|
||||
AsyncWebServer server(80);
|
||||
AsyncWebSocket ws("/ws");
|
||||
|
||||
// Global variables
|
||||
static uint16_t throttle = DSHOT_CMD_MOTOR_STOP;
|
||||
static bool isArmed = false;
|
||||
static bool continuous_throttle = true;
|
||||
|
||||
// Helpers (forward declaration)
|
||||
void printMenu();
|
||||
void handleSerialInput(const String &input);
|
||||
void handleWebSocketMessage(void *arg, uint8_t *data, size_t len);
|
||||
void onWsEvent(AsyncWebSocket *server, AsyncWebSocketClient *client, AwsEventType type, void *arg, uint8_t *data, size_t len);
|
||||
void setArmingStatus(bool armed);
|
||||
|
||||
//
|
||||
void setup()
|
||||
{
|
||||
USB_SERIAL.begin(USB_SERIAL_BAUD);
|
||||
|
||||
motor01.begin();
|
||||
motor01.printCpuInfo();
|
||||
|
||||
// Set IP Address
|
||||
WiFi.softAPConfig(local_IP, gateway, subnet);
|
||||
|
||||
// Start Wifi Access Point
|
||||
USB_SERIAL.println("\nStarting Access Point...");
|
||||
WiFi.softAP(ssid, password);
|
||||
|
||||
IPAddress IP = WiFi.softAPIP();
|
||||
|
||||
USB_SERIAL.print("Access Point IP address: ");
|
||||
USB_SERIAL.println(IP);
|
||||
|
||||
// Init WebSockets and Webserver
|
||||
USB_SERIAL.println("\nStarting Webserver...");
|
||||
ws.onEvent(onWsEvent);
|
||||
server.addHandler(&ws);
|
||||
|
||||
server.on("/", HTTP_GET, [](AsyncWebServerRequest *request)
|
||||
{ request->send_P(200, "text/html", index_html); });
|
||||
|
||||
server.begin();
|
||||
USB_SERIAL.println("HTTP server started.");
|
||||
|
||||
// Initialize with disarmed state
|
||||
setArmingStatus(false);
|
||||
|
||||
printMenu();
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
static uint64_t last_serial_update = 0;
|
||||
static uint16_t last_sent_throttle = DSHOT_CMD_MOTOR_STOP;
|
||||
static bool last_sent_armed = false;
|
||||
static String last_sent_rpm = "N/A";
|
||||
|
||||
// Handle serial input
|
||||
if (USB_SERIAL.available() > 0)
|
||||
{
|
||||
String input = USB_SERIAL.readStringUntil('\n');
|
||||
input.trim();
|
||||
if (input.length() > 0)
|
||||
{
|
||||
handleSerialInput(input);
|
||||
}
|
||||
}
|
||||
|
||||
// Send throttle value only if armed and continuous mode is enabled
|
||||
if (isArmed && continuous_throttle && throttle > 0)
|
||||
{
|
||||
motor01.sendThrottle(throttle);
|
||||
}
|
||||
else if (!isArmed && continuous_throttle)
|
||||
{
|
||||
// Ensure motor is stopped when disarmed
|
||||
motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
|
||||
}
|
||||
|
||||
// Print motor stats every 3 seconds in continuous mode
|
||||
if ((esp_timer_get_time() - last_serial_update >= 3000000))
|
||||
{
|
||||
motor01.printDShotInfo();
|
||||
|
||||
USB_SERIAL.println(" ");
|
||||
|
||||
// Get Motor RPM if bidirectional and armed
|
||||
if (IS_BIDIRECTIONAL && isArmed)
|
||||
{
|
||||
dshot_telemetry_result_t telem_result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT);
|
||||
printDShotTelemetry(telem_result);
|
||||
}
|
||||
|
||||
USB_SERIAL.println("Type 'help' to show Menu");
|
||||
|
||||
// Time Stamp
|
||||
last_serial_update = esp_timer_get_time();
|
||||
}
|
||||
|
||||
// Update JSON on data change
|
||||
String current_rpm = "N/A";
|
||||
|
||||
if (IS_BIDIRECTIONAL && isArmed)
|
||||
{
|
||||
dshot_telemetry_result_t telem_result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT);
|
||||
current_rpm = String(telem_result.motor_rpm);
|
||||
}
|
||||
|
||||
if (throttle != last_sent_throttle || isArmed != last_sent_armed || current_rpm != last_sent_rpm)
|
||||
{
|
||||
// Generate JSON for Webserver
|
||||
JsonDocument doc;
|
||||
doc["throttle"] = isArmed ? throttle : 0;
|
||||
doc["armed"] = isArmed;
|
||||
doc["rpm"] = current_rpm;
|
||||
|
||||
String json_output;
|
||||
json_output.reserve(256);
|
||||
serializeJson(doc, json_output);
|
||||
|
||||
if (ws.count() > 0)
|
||||
{
|
||||
ws.textAll(json_output);
|
||||
}
|
||||
|
||||
// Update last run
|
||||
last_sent_throttle = throttle;
|
||||
last_sent_armed = isArmed;
|
||||
last_sent_rpm = current_rpm;
|
||||
}
|
||||
|
||||
ws.cleanupClients();
|
||||
}
|
||||
|
||||
//
|
||||
void setArmingStatus(bool armed)
|
||||
{
|
||||
isArmed = armed;
|
||||
|
||||
if (!armed)
|
||||
{
|
||||
// Safety: Stop motor and reset throttle when disarming
|
||||
throttle = 0;
|
||||
continuous_throttle = false;
|
||||
motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.println("=== MOTOR DISARMED - SAFETY STOP EXECUTED ===");
|
||||
}
|
||||
else
|
||||
{
|
||||
continuous_throttle = true;
|
||||
}
|
||||
}
|
||||
|
||||
//
|
||||
void printMenu()
|
||||
{
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.println("***********************************************");
|
||||
USB_SERIAL.println(" --- DShotRMT Demo & Web UI --- ");
|
||||
USB_SERIAL.println("***********************************************");
|
||||
USB_SERIAL.println(" Web Config: http://10.10.10.1 ");
|
||||
USB_SERIAL.println("***********************************************");
|
||||
USB_SERIAL.println(" arm - Arm motor");
|
||||
USB_SERIAL.println(" disarm - Disarm motor (safety)");
|
||||
USB_SERIAL.println(" <value> - Set throttle (48 – 2047)");
|
||||
USB_SERIAL.println(" 0 - Stop motor");
|
||||
USB_SERIAL.println("***********************************************");
|
||||
USB_SERIAL.println(" cmd <number> - Send DShot command (0 - 47)");
|
||||
USB_SERIAL.println(" info - Show motor info");
|
||||
if (IS_BIDIRECTIONAL)
|
||||
{
|
||||
USB_SERIAL.println(" rpm - Get telemetry data");
|
||||
}
|
||||
USB_SERIAL.println("***********************************************");
|
||||
USB_SERIAL.println(" h / help - Show this Menu");
|
||||
USB_SERIAL.println("***********************************************");
|
||||
USB_SERIAL.printf(" Current Status: %s\n", isArmed ? "ARMED" : "DISARMED");
|
||||
USB_SERIAL.println("***********************************************");
|
||||
}
|
||||
|
||||
// Handle serial inputs and updates global variables
|
||||
void handleSerialInput(const String &input)
|
||||
{
|
||||
if (input == "arm")
|
||||
{
|
||||
setArmingStatus(true);
|
||||
}
|
||||
else if (input == "disarm")
|
||||
{
|
||||
setArmingStatus(false);
|
||||
}
|
||||
else if (input == "0")
|
||||
{
|
||||
throttle = 0;
|
||||
continuous_throttle = false;
|
||||
dshot_result_t result = motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
|
||||
printDShotResult(result);
|
||||
}
|
||||
else if (input == "info")
|
||||
{
|
||||
motor01.printDShotInfo();
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.printf("Arming Status: %s\n", isArmed ? "ARMED" : "DISARMED");
|
||||
}
|
||||
else if (input == "rpm" && IS_BIDIRECTIONAL)
|
||||
{
|
||||
if (isArmed)
|
||||
{
|
||||
dshot_telemetry_result_t result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT);
|
||||
printDShotTelemetry(result);
|
||||
}
|
||||
else
|
||||
{
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.println("Cannot read RPM - Motor is DISARMED");
|
||||
}
|
||||
}
|
||||
else if (input.startsWith("cmd "))
|
||||
{
|
||||
if (!isArmed)
|
||||
{
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.println("Cannot send command - Motor is DISARMED. Use 'arm' command first.");
|
||||
return;
|
||||
}
|
||||
|
||||
continuous_throttle = false;
|
||||
int cmd_num = input.substring(4).toInt();
|
||||
if (cmd_num >= DSHOT_CMD_MOTOR_STOP && cmd_num <= DSHOT_CMD_MAX)
|
||||
{
|
||||
dshot_result_t result = motor01.sendCommand(cmd_num);
|
||||
printDShotResult(result);
|
||||
}
|
||||
else
|
||||
{
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.printf("Invalid command: %d (valid range: 0 - %d)\n", cmd_num, DSHOT_CMD_MAX);
|
||||
}
|
||||
}
|
||||
else if (input == "h" || input == "help")
|
||||
{
|
||||
printMenu();
|
||||
}
|
||||
else if (input == "status")
|
||||
{
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.printf("Arming Status: %s\n", isArmed ? "ARMED" : "DISARMED");
|
||||
USB_SERIAL.printf("Current Throttle: %u\n", throttle);
|
||||
USB_SERIAL.printf("Continuous Mode: %s\n", continuous_throttle ? "ACTIVE" : "INACTIVE");
|
||||
}
|
||||
else
|
||||
{
|
||||
int throttle_value = input.toInt();
|
||||
|
||||
if (throttle_value >= DSHOT_THROTTLE_MIN && throttle_value <= DSHOT_THROTTLE_MAX)
|
||||
{
|
||||
if (!isArmed)
|
||||
{
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.println("Cannot set throttle - Motor is DISARMED. Use 'arm' command first.");
|
||||
return;
|
||||
}
|
||||
|
||||
throttle = throttle_value;
|
||||
continuous_throttle = true;
|
||||
|
||||
dshot_result_t result = motor01.sendThrottle(throttle);
|
||||
|
||||
if (result.success)
|
||||
{
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.printf("Throttle set to %u (continuous mode active)\n", throttle);
|
||||
}
|
||||
}
|
||||
else if (throttle_value == 0)
|
||||
{
|
||||
throttle = 0;
|
||||
continuous_throttle = false;
|
||||
dshot_result_t result = motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
|
||||
printDShotResult(result);
|
||||
}
|
||||
else
|
||||
{
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.printf("Invalid input: '%s'\n", input.c_str());
|
||||
USB_SERIAL.printf("Valid throttle range: %d - %d\n", DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX);
|
||||
USB_SERIAL.println("Use 'arm' to enable motor control");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Websocket request processing
|
||||
void handleWebSocketMessage(void *arg, uint8_t *data, size_t len)
|
||||
{
|
||||
JsonDocument doc;
|
||||
DeserializationError error = deserializeJson(doc, data, len);
|
||||
|
||||
if (error)
|
||||
{
|
||||
USB_SERIAL.print(F("deserializeJson() failed: "));
|
||||
USB_SERIAL.println(error.c_str());
|
||||
return;
|
||||
}
|
||||
|
||||
//
|
||||
bool armedFromWeb = false;
|
||||
|
||||
// Handle arming status
|
||||
if (doc.containsKey("armed"))
|
||||
{
|
||||
bool armed = doc["armed"];
|
||||
setArmingStatus(armed);
|
||||
armedFromWeb = true;
|
||||
}
|
||||
|
||||
// Handle throttle value (only if armed)
|
||||
if (doc.containsKey("throttle") && isArmed)
|
||||
{
|
||||
uint16_t web_throttle = doc["throttle"];
|
||||
|
||||
// Check for valid throttle value
|
||||
if (web_throttle == 0)
|
||||
{
|
||||
throttle = 0;
|
||||
continuous_throttle = false;
|
||||
motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
|
||||
}
|
||||
else if (web_throttle >= DSHOT_THROTTLE_MIN && web_throttle <= DSHOT_THROTTLE_MAX)
|
||||
{
|
||||
throttle = web_throttle;
|
||||
continuous_throttle = true;
|
||||
}
|
||||
}
|
||||
else if (doc.containsKey("throttle") && !isArmed)
|
||||
{
|
||||
throttle = 0;
|
||||
continuous_throttle = false;
|
||||
// Ignore throttle commands when disarmed
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.println("Web throttle command ignored - Motor is DISARMED");
|
||||
}
|
||||
|
||||
// Webserver arms with DSHOT_THROTTLE_MIN
|
||||
if (armedFromWeb && isArmed)
|
||||
{
|
||||
throttle = DSHOT_THROTTLE_MIN;
|
||||
continuous_throttle = true;
|
||||
motor01.sendThrottle(throttle);
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.println("Motor armed via Web - throttle set to 48");
|
||||
}
|
||||
}
|
||||
|
||||
// Websocket request handler
|
||||
void onWsEvent(AsyncWebSocket *server, AsyncWebSocketClient *client, AwsEventType type, void *arg, uint8_t *data, size_t len)
|
||||
{
|
||||
switch (type)
|
||||
{
|
||||
case WS_EVT_CONNECT:
|
||||
USB_SERIAL.printf("Web Client #%u connected from %s\n", client->id(), client->remoteIP().toString().c_str());
|
||||
|
||||
// Send current arming status to new client
|
||||
{
|
||||
JsonDocument doc;
|
||||
doc["armed"] = isArmed;
|
||||
doc["throttle"] = isArmed ? throttle : 0;
|
||||
String json_output;
|
||||
serializeJson(doc, json_output);
|
||||
client->text(json_output);
|
||||
}
|
||||
break;
|
||||
|
||||
case WS_EVT_DISCONNECT:
|
||||
USB_SERIAL.printf("Web Client #%u disconnected\n", client->id());
|
||||
break;
|
||||
|
||||
case WS_EVT_DATA:
|
||||
handleWebSocketMessage(arg, data, len);
|
||||
break;
|
||||
|
||||
case WS_EVT_PONG:
|
||||
case WS_EVT_ERROR:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,9 +1,12 @@
|
|||
name=DShotRMT
|
||||
version=0.7.2
|
||||
author=derdoktor667
|
||||
maintainer=derdoktor667
|
||||
version=0.7.5
|
||||
author=Wastl Kraus <wir-sind-die-matrix.de>
|
||||
maintainer=Wastl Kraus <wir-sind-die-matrix.de>
|
||||
license=MIT
|
||||
sentence=DShotRMT Library supporting all DShot Types and speeds. Tested with BlHeli_S.
|
||||
paragraph=This library can control a BlHeli_S by using encoded DShot commands.
|
||||
paragraph=This library can control a BlHeli_S by using encoded DShot commands. Features bidirectional DShot support for RPM telemetry.
|
||||
category=Signal Input/Output
|
||||
url=https://github.com/derdoktor667/DShotRMT
|
||||
architectures=esp32
|
||||
provides_includes=DShotRMT.h, DShotCommandManager.h, dshot_commands.h, web_content.h
|
||||
depends=ArduinoJson
|
||||
|
|
@ -182,7 +182,7 @@ dshot_result_t DShotRMT::_initRXChannel()
|
|||
}
|
||||
|
||||
// Callback for RMT RX
|
||||
bool IRAM_ATTR DShotRMT::_rmt_rx_done_callback(rmt_channel_handle_t rmt_rx_channel, const rmt_rx_done_event_data_t *edata, void *user_data)
|
||||
bool DShotRMT::_rmt_rx_done_callback(rmt_channel_handle_t rmt_rx_channel, const rmt_rx_done_event_data_t *edata, void *user_data)
|
||||
{
|
||||
DShotRMT *instance = static_cast<DShotRMT *>(user_data);
|
||||
|
||||
|
|
@ -414,7 +414,7 @@ dshot_result_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
|
|||
}
|
||||
|
||||
// Encode DShot packet into RMT symbol format (placed in IRAM for performance)
|
||||
bool IRAM_ATTR DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols)
|
||||
bool DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols)
|
||||
{
|
||||
_parsed_packet = _parseDShotPacket(packet);
|
||||
|
||||
|
|
@ -482,7 +482,7 @@ uint16_t DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
|
|||
}
|
||||
|
||||
// Check if enough time has passed for next transmission
|
||||
bool IRAM_ATTR DShotRMT::_timer_signal()
|
||||
bool DShotRMT::_timer_signal()
|
||||
{
|
||||
uint64_t current_time = esp_timer_get_time();
|
||||
|
||||
|
|
@ -0,0 +1,237 @@
|
|||
/**
|
||||
* @file DShotRMT.h
|
||||
* @brief DShot signal generation using ESP32 RMT with bidirectional support
|
||||
* @author Wastl Kraus
|
||||
* @date 2025-06-11
|
||||
* @license MIT
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <Arduino.h>
|
||||
#include <dshot_commands.h>
|
||||
#include <web_content.h>
|
||||
#include <driver/gpio.h>
|
||||
#include <driver/rmt_tx.h>
|
||||
#include <driver/rmt_rx.h>
|
||||
|
||||
// DShot Protocol Constants
|
||||
static constexpr auto DSHOT_THROTTLE_FAILSAFE = 0;
|
||||
static constexpr auto DSHOT_THROTTLE_MIN = 48;
|
||||
static constexpr auto DSHOT_THROTTLE_MAX = 2047;
|
||||
static constexpr auto DSHOT_BITS_PER_FRAME = 16;
|
||||
static constexpr auto DSHOT_PAUSE_US = 30; // Additional frame pause time
|
||||
static constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000;
|
||||
static constexpr auto DSHOT_FULL_PACKET = 0b1111111111111111;
|
||||
static constexpr auto DSHOT_CRC_MASK = 0b0000000000001111;
|
||||
static constexpr auto DSHOT_RX_TIMEOUT_MS = 2; // Never reached, just a timeeout
|
||||
static constexpr auto GCR_BITS_PER_FRAME = 21; // Number of GCR bits in a DShot answer frame (1 start + 16 data + 4 CRC)
|
||||
static constexpr auto DEFAULT_MOTOR_MAGNET_COUNT = 14;
|
||||
static constexpr auto MAGNETS_PER_POLE_PAIR = 2;
|
||||
static constexpr auto MIN_POLE_PAIRS = 1;
|
||||
static constexpr auto NO_DSHOT_ERPM = 0;
|
||||
static constexpr auto NO_DSHOT_RPM = 0;
|
||||
|
||||
// RMT Configuration Constants
|
||||
constexpr auto DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
|
||||
constexpr auto DSHOT_RMT_RESOLUTION = 10 * 1000 * 1000; // 10 MHz resolution
|
||||
constexpr auto RMT_BUFFER_SIZE = DSHOT_BITS_PER_FRAME;
|
||||
constexpr auto RMT_BUFFER_SYMBOLS = 64;
|
||||
constexpr auto RMT_QUEUE_DEPTH = 1;
|
||||
|
||||
// Smallest pulse for DShot1200 is 2us. Largest for DShot150 is 40us.
|
||||
// The range is set from 3us (3000ns) to 60us (60000ns) to be safe across all modes.
|
||||
constexpr uint32_t DSHOT_PULSE_MIN = 3000;
|
||||
constexpr uint32_t DSHOT_PULSE_MAX = 60000;
|
||||
|
||||
// DShot Modes
|
||||
typedef enum
|
||||
{
|
||||
DSHOT_OFF,
|
||||
DSHOT150,
|
||||
DSHOT300,
|
||||
DSHOT600,
|
||||
DSHOT1200
|
||||
} dshot_mode_t;
|
||||
|
||||
// DShot Packet
|
||||
typedef struct
|
||||
{
|
||||
uint16_t throttle_value : 11;
|
||||
bool telemetric_request : 1;
|
||||
uint16_t checksum : 4;
|
||||
} dshot_packet_t;
|
||||
|
||||
// DShot Timing Configuration
|
||||
typedef struct
|
||||
{
|
||||
uint32_t frame_length_us;
|
||||
uint16_t ticks_per_bit;
|
||||
uint16_t ticks_one_high;
|
||||
uint16_t ticks_one_low;
|
||||
uint16_t ticks_zero_high;
|
||||
uint16_t ticks_zero_low;
|
||||
} dshot_timing_t;
|
||||
|
||||
// Error handling
|
||||
typedef struct
|
||||
{
|
||||
bool success;
|
||||
const char *msg;
|
||||
} dshot_result_t;
|
||||
|
||||
// DShot telemetry result
|
||||
typedef struct
|
||||
{
|
||||
bool success;
|
||||
uint16_t erpm;
|
||||
uint16_t motor_rpm;
|
||||
const char *msg;
|
||||
} dshot_telemetry_result_t;
|
||||
|
||||
// Naming convention
|
||||
typedef dshotCommands_e dshot_commands_t;
|
||||
|
||||
// --- HELPERS ---
|
||||
void printDShotResult(dshot_result_t &result, Stream &output = Serial);
|
||||
void printDShotTelemetry(dshot_telemetry_result_t &result, Stream &output = Serial);
|
||||
|
||||
//
|
||||
class DShotRMT
|
||||
{
|
||||
public:
|
||||
// Constructor with GPIO enum
|
||||
explicit DShotRMT(gpio_num_t gpio = GPIO_NUM_16, dshot_mode_t mode = DSHOT300, bool is_bidirectional = false);
|
||||
|
||||
// Constructor with pin number
|
||||
DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional);
|
||||
|
||||
// Destructor for "better" code
|
||||
~DShotRMT();
|
||||
|
||||
// Initialize the RMT module and DShot config
|
||||
dshot_result_t begin();
|
||||
|
||||
// Send throttle value (48-2047)
|
||||
dshot_result_t sendThrottle(uint16_t throttle);
|
||||
|
||||
// Send DShot command (0-47)
|
||||
dshot_result_t sendCommand(uint16_t command);
|
||||
|
||||
// --- GETTERS ---
|
||||
gpio_num_t getGPIO() const { return _gpio; }
|
||||
uint16_t getDShotPacket() const { return _parsed_packet; }
|
||||
bool is_bidirectional() const { return _is_bidirectional; }
|
||||
dshot_mode_t getMode() const { return _mode; }
|
||||
dshot_telemetry_result_t getTelemetry(uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT);
|
||||
|
||||
// --- INFO ---
|
||||
void printDShotInfo(Stream &output = Serial) const;
|
||||
void printCpuInfo(Stream &output = Serial) const;
|
||||
|
||||
// --- DEPRECATED METHODS ---
|
||||
[[deprecated("Use sendThrottle() instead")]]
|
||||
bool setThrottle(uint16_t throttle)
|
||||
{
|
||||
auto result = sendThrottle(throttle);
|
||||
return result.success;
|
||||
}
|
||||
|
||||
[[deprecated("Use sendCommand() instead")]]
|
||||
bool sendDShotCommand(uint16_t command)
|
||||
{
|
||||
auto result = sendCommand(command);
|
||||
return result.success;
|
||||
}
|
||||
|
||||
[[deprecated("Use getTelemetry() instead")]]
|
||||
uint32_t getMotorRPM(uint8_t magnet_count)
|
||||
{
|
||||
auto result = getTelemetry(magnet_count);
|
||||
return result.success;
|
||||
}
|
||||
|
||||
private:
|
||||
// --- CONFIG ---
|
||||
gpio_num_t _gpio;
|
||||
dshot_mode_t _mode;
|
||||
bool _is_bidirectional;
|
||||
uint32_t _frame_timer_us;
|
||||
const dshot_timing_t &_timing_config;
|
||||
uint16_t _last_throttle;
|
||||
|
||||
// --- TIMING & PACKET VARIABLES ---
|
||||
uint64_t _last_transmission_time;
|
||||
uint16_t _parsed_packet;
|
||||
dshot_packet_t _packet;
|
||||
uint8_t _bitPositions[DSHOT_BITS_PER_FRAME];
|
||||
uint16_t _level0;
|
||||
uint16_t _level1;
|
||||
|
||||
// --- RMT HARDWARE HANDLES ---
|
||||
rmt_channel_handle_t _rmt_tx_channel;
|
||||
rmt_channel_handle_t _rmt_rx_channel;
|
||||
rmt_encoder_handle_t _dshot_encoder;
|
||||
|
||||
// --- RMT CONFIG STRUCTURES ---
|
||||
rmt_tx_channel_config_t _tx_channel_config;
|
||||
rmt_rx_channel_config_t _rx_channel_config;
|
||||
rmt_transmit_config_t _transmit_config;
|
||||
rmt_receive_config_t _receive_config;
|
||||
|
||||
// --- INITS ---
|
||||
dshot_result_t _initTXChannel();
|
||||
dshot_result_t _initRXChannel();
|
||||
dshot_result_t _initDShotEncoder();
|
||||
|
||||
// --- PACKET MANAGEMENT ---
|
||||
dshot_packet_t _buildDShotPacket(const uint16_t value);
|
||||
uint16_t _parseDShotPacket(const dshot_packet_t &packet);
|
||||
uint16_t _calculateCRC(const uint16_t data);
|
||||
void _preCalculateBitPositions();
|
||||
|
||||
// --- FRAME PROCESSING ---
|
||||
dshot_result_t _sendDShotFrame(const dshot_packet_t &packet);
|
||||
bool IRAM_ATTR _encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols);
|
||||
uint16_t _decodeDShotFrame(const rmt_symbol_word_t *symbols);
|
||||
|
||||
// --- TIMING CONTROL ---
|
||||
bool IRAM_ATTR _timer_signal();
|
||||
bool _timer_reset();
|
||||
|
||||
// -- CALLBACKS ---
|
||||
rmt_rx_event_callbacks_t _rx_event_callbacks;
|
||||
volatile rmt_symbol_word_t _rx_symbols_direct[GCR_BITS_PER_FRAME];
|
||||
volatile uint16_t _last_erpm_atomic;
|
||||
volatile bool _telemetry_ready_flag;
|
||||
static bool IRAM_ATTR _rmt_rx_done_callback(rmt_channel_handle_t rmt_rx_channel, const rmt_rx_done_event_data_t *edata, void *user_data);
|
||||
|
||||
// --- DSHOT DEFAULTS ---
|
||||
static constexpr auto const DSHOT_TELEMETRY_INVALID = (0xffff);
|
||||
|
||||
// --- CONSTANTS & ERROR MESSAGES ---
|
||||
static constexpr bool DSHOT_OK = 0;
|
||||
static constexpr bool DSHOT_ERROR = 1;
|
||||
|
||||
static constexpr char const *NONE = "";
|
||||
static constexpr char const *UNKNOWN_ERROR = "Unknown Error!";
|
||||
static constexpr char const *INIT_SUCCESS = "SignalGeneratorRMT initialized successfully";
|
||||
static constexpr char const *INIT_FAILED = "SignalGeneratorRMT init failed!";
|
||||
static constexpr char const *TX_INIT_SUCCESS = "TX RMT channel initialized successfully";
|
||||
static constexpr char const *TX_INIT_FAILED = "TX RMT channel init failed!";
|
||||
static constexpr char const *RX_INIT_SUCCESS = "RX RMT channel initialized successfully";
|
||||
static constexpr char const *RX_INIT_FAILED = "RX RMT channel init failed!";
|
||||
static constexpr char const *RX_BUFFER_FAILED = "RX RMT buffer init failed!";
|
||||
static constexpr char const *ENCODER_INIT_SUCCESS = "RMT encoder initialized successfully";
|
||||
static constexpr char const *ENCODER_INIT_FAILED = "RMT encoder init failed!";
|
||||
static constexpr char const *TRANSMISSION_SUCCESS = "Transmission successfully";
|
||||
static constexpr char const *TRANSMISSION_FAILED = "Transmission failed!";
|
||||
static constexpr char const *RECEIVER_FAILED = "RMT receiver failed!";
|
||||
static constexpr char const *THROTTLE_NOT_IN_RANGE = "Throttle not in range! (48 - 2047)";
|
||||
static constexpr char const *COMMAND_NOT_VALID = "Command not valid! (0 - 47)";
|
||||
static constexpr char const *BIDIR_NOT_ENABLED = "Bidirectional DShot not enabled!";
|
||||
static constexpr char const *TELEMETRY_SUCCESS = "Valid Telemetric Frame received!";
|
||||
static constexpr char const *TELEMETRY_FAILED = "No valid Telemetric Frame received!";
|
||||
static constexpr char const *INVALID_MAGNET_COUNT = "Invalid motor magnet count!";
|
||||
static constexpr char const *TIMING_CORRECTION = "Timing correction!";
|
||||
};
|
||||
|
|
@ -0,0 +1,356 @@
|
|||
/**
|
||||
* @file web_content.h
|
||||
* @brief DShotRMT_Control Website content with Arming Switch
|
||||
* @author Wastl Kraus
|
||||
* @date 2025-09-09
|
||||
* @license MIT
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
// Web Site Content
|
||||
const char index_html[] PROGMEM = R"rawliteral(
|
||||
<!DOCTYPE html>
|
||||
<html lang="de">
|
||||
|
||||
<head>
|
||||
<meta charset="UTF-8">
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=no">
|
||||
<title>DShotRMT_Web</title>
|
||||
<style>
|
||||
body {
|
||||
font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, "Helvetica Neue", Arial, sans-serif;
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
align-items: center;
|
||||
background-color: #2c3e50;
|
||||
color: #ecf0f1;
|
||||
margin: 0;
|
||||
height: 100dvh;
|
||||
justify-content: center;
|
||||
}
|
||||
|
||||
h1 {
|
||||
font-size: 1.5em;
|
||||
font-weight: bold;
|
||||
margin-bottom: 20px;
|
||||
}
|
||||
|
||||
.control-container {
|
||||
background-color: #34495e;
|
||||
padding: 30px;
|
||||
border-radius: 12px;
|
||||
box-shadow: 0 4px 8px rgba(0, 0, 0, 0.2);
|
||||
text-align: center;
|
||||
width: 85%;
|
||||
max-width: 500px;
|
||||
}
|
||||
|
||||
/* Arming Switch Styles */
|
||||
.arming-section {
|
||||
margin-bottom: 25px;
|
||||
padding: 15px;
|
||||
background-color: #2c3e50;
|
||||
border-radius: 8px;
|
||||
border: 2px solid #e74c3c;
|
||||
}
|
||||
|
||||
.arming-switch {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: center;
|
||||
gap: 15px;
|
||||
margin-bottom: 10px;
|
||||
}
|
||||
|
||||
.switch {
|
||||
position: relative;
|
||||
display: inline-block;
|
||||
width: 60px;
|
||||
height: 34px;
|
||||
}
|
||||
|
||||
.switch input {
|
||||
opacity: 0;
|
||||
width: 0;
|
||||
height: 0;
|
||||
}
|
||||
|
||||
.slider-switch {
|
||||
position: absolute;
|
||||
cursor: pointer;
|
||||
top: 0;
|
||||
left: 0;
|
||||
right: 0;
|
||||
bottom: 0;
|
||||
background-color: #e74c3c;
|
||||
-webkit-transition: .4s;
|
||||
transition: .4s;
|
||||
border-radius: 34px;
|
||||
}
|
||||
|
||||
.slider-switch:before {
|
||||
position: absolute;
|
||||
content: "";
|
||||
height: 26px;
|
||||
width: 26px;
|
||||
left: 4px;
|
||||
bottom: 4px;
|
||||
background-color: white;
|
||||
-webkit-transition: .4s;
|
||||
transition: .4s;
|
||||
border-radius: 50%;
|
||||
}
|
||||
|
||||
input:checked+.slider-switch {
|
||||
background-color: #27ae60;
|
||||
}
|
||||
|
||||
input:checked+.slider-switch:before {
|
||||
-webkit-transform: translateX(26px);
|
||||
-ms-transform: translateX(26px);
|
||||
transform: translateX(26px);
|
||||
}
|
||||
|
||||
.arming-label {
|
||||
font-size: 1.2em;
|
||||
font-weight: bold;
|
||||
}
|
||||
|
||||
.arming-status {
|
||||
font-size: 0.9em;
|
||||
margin-top: 5px;
|
||||
}
|
||||
|
||||
.status-disarmed {
|
||||
color: #e74c3c;
|
||||
}
|
||||
|
||||
.status-armed {
|
||||
color: #27ae60;
|
||||
}
|
||||
|
||||
/* Throttle Section */
|
||||
.throttle-section {
|
||||
opacity: 0.3;
|
||||
transition: opacity 0.3s ease;
|
||||
}
|
||||
|
||||
.throttle-section.armed {
|
||||
opacity: 1;
|
||||
}
|
||||
|
||||
#throttleValue {
|
||||
font-size: 2.5em;
|
||||
font-weight: bold;
|
||||
color: #3498db;
|
||||
margin-bottom: 20px;
|
||||
}
|
||||
|
||||
#throttleSlider {
|
||||
appearance: none;
|
||||
width: 100%;
|
||||
height: 25px;
|
||||
background: #2c3e50;
|
||||
outline: none;
|
||||
border-radius: 12px;
|
||||
}
|
||||
|
||||
#throttleSlider::-webkit-slider-thumb {
|
||||
-webkit-appearance: none;
|
||||
appearance: none;
|
||||
width: 40px;
|
||||
height: 40px;
|
||||
background: #3498db;
|
||||
cursor: pointer;
|
||||
border-radius: 50%;
|
||||
}
|
||||
|
||||
#throttleSlider::-moz-range-thumb {
|
||||
width: 40px;
|
||||
height: 40px;
|
||||
background: #3498db;
|
||||
cursor: pointer;
|
||||
border-radius: 50%;
|
||||
border: none;
|
||||
}
|
||||
|
||||
.stats {
|
||||
margin-top: 20px;
|
||||
font-size: 1.2em;
|
||||
}
|
||||
|
||||
.stats span {
|
||||
font-weight: bold;
|
||||
color: #e67e22;
|
||||
}
|
||||
|
||||
.warning-text {
|
||||
color: #e74c3c;
|
||||
font-size: 0.9em;
|
||||
margin-top: 10px;
|
||||
font-style: italic;
|
||||
}
|
||||
</style>
|
||||
</head>
|
||||
|
||||
<body>
|
||||
<h1>DShotRMT Control Demo</h1>
|
||||
<div class="control-container">
|
||||
<!-- Arming Section -->
|
||||
<div class="arming-section">
|
||||
<div class="arming-switch">
|
||||
<span class="arming-label">ARMING SWITCH</span>
|
||||
<label class="switch">
|
||||
<input type="checkbox" id="armingSwitch">
|
||||
<span class="slider-switch"></span>
|
||||
</label>
|
||||
</div>
|
||||
<div class="arming-status">
|
||||
<span id="armingStatus" class="status-disarmed">DISARMED</span>
|
||||
</div>
|
||||
<div class="warning-text">
|
||||
⚠️ Motor control disabled when disarmed
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<!-- Throttle Section -->
|
||||
<div class="throttle-section" id="throttleSection">
|
||||
<div id="throttleValue">0</div>
|
||||
<input type="range" min="48" max="2047" value="0" id="throttleSlider" disabled>
|
||||
</div>
|
||||
|
||||
<div class="stats">
|
||||
RPM: <span id="rpmValue">--</span>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<script>
|
||||
const gateway = `ws://${window.location.hostname}/ws`;
|
||||
let websocket;
|
||||
let isArmed = false;
|
||||
|
||||
// Init WebSocket
|
||||
window.addEventListener('load', () => {
|
||||
initWebSocket();
|
||||
});
|
||||
|
||||
function initWebSocket() {
|
||||
console.log('Trying to open a WebSocket connection...');
|
||||
|
||||
websocket = new WebSocket(gateway);
|
||||
websocket.onopen = onOpen;
|
||||
websocket.onclose = onClose;
|
||||
websocket.onmessage = onMessage;
|
||||
}
|
||||
|
||||
function onOpen(event) {
|
||||
console.log('Connection opened');
|
||||
}
|
||||
|
||||
function onClose(event) {
|
||||
console.log('Connection closed');
|
||||
setTimeout(initWebSocket, 2000);
|
||||
}
|
||||
|
||||
// Getting data from sketch
|
||||
function onMessage(event) {
|
||||
try {
|
||||
const data = JSON.parse(event.data);
|
||||
|
||||
if (data.rpm !== undefined) {
|
||||
document.getElementById('rpmValue').innerText = data.rpm;
|
||||
}
|
||||
|
||||
// Sync web and serial throttle inputs
|
||||
if (data.throttle !== undefined) {
|
||||
if (isArmed) {
|
||||
document.getElementById('throttleSlider').value = data.throttle;
|
||||
document.getElementById('throttleValue').innerText = data.throttle;
|
||||
}
|
||||
}
|
||||
|
||||
// Sync arming status if received from ESP32
|
||||
if (data.armed !== undefined) {
|
||||
isArmed = data.armed;
|
||||
updateArmingUI();
|
||||
}
|
||||
|
||||
} catch (e) {
|
||||
console.error("Error parsing JSON: ", e);
|
||||
}
|
||||
}
|
||||
|
||||
// Elements
|
||||
const slider = document.getElementById('throttleSlider');
|
||||
const sliderValue = document.getElementById('throttleValue');
|
||||
const armingSwitch = document.getElementById('armingSwitch');
|
||||
const armingStatus = document.getElementById('armingStatus');
|
||||
const throttleSection = document.getElementById('throttleSection');
|
||||
|
||||
// Arming switch event
|
||||
armingSwitch.addEventListener('change', () => {
|
||||
isArmed = armingSwitch.checked;
|
||||
updateArmingUI();
|
||||
|
||||
// Send arming status to ESP32
|
||||
const message = JSON.stringify({
|
||||
"armed": isArmed,
|
||||
"throttle": isArmed ? parseInt(slider.value) : 0
|
||||
});
|
||||
|
||||
console.log("Sending arming status: ", message);
|
||||
websocket.send(message);
|
||||
|
||||
// If disarmed, set throttle to 0
|
||||
if (!isArmed) {
|
||||
slider.value = 0;
|
||||
sliderValue.innerText = 0;
|
||||
}
|
||||
});
|
||||
|
||||
// Update UI based on arming status
|
||||
function updateArmingUI() {
|
||||
if (isArmed) {
|
||||
armingStatus.innerText = 'ARMED';
|
||||
armingStatus.className = 'status-armed';
|
||||
throttleSection.classList.add('armed');
|
||||
slider.disabled = false;
|
||||
} else {
|
||||
armingStatus.innerText = 'DISARMED';
|
||||
armingStatus.className = 'status-disarmed';
|
||||
throttleSection.classList.remove('armed');
|
||||
slider.disabled = true;
|
||||
slider.value = 0;
|
||||
sliderValue.innerText = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// Throttle slider event
|
||||
slider.addEventListener('input', () => {
|
||||
if (!isArmed) {
|
||||
slider.disabled = true;
|
||||
slider.value = 0;
|
||||
sliderValue.innerText = 0;
|
||||
return;
|
||||
}
|
||||
|
||||
const throttle = slider.value;
|
||||
sliderValue.innerText = throttle;
|
||||
|
||||
const message = JSON.stringify({
|
||||
"throttle": parseInt(throttle),
|
||||
"armed": isArmed
|
||||
});
|
||||
|
||||
console.log("Sending throttle: ", message);
|
||||
websocket.send(message);
|
||||
});
|
||||
|
||||
// Initialize UI
|
||||
updateArmingUI();
|
||||
</script>
|
||||
</body>
|
||||
|
||||
</html>
|
||||
)rawliteral";
|
||||
Loading…
Reference in New Issue