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...biDir still not switching

This commit is contained in:
Wastl Kraus 2025-07-11 23:51:46 +02:00
parent ed9b8c539a
commit 089374d2bd
3 changed files with 23 additions and 17 deletions
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7
DShotRMT.cpp
View File

@ -91,6 +91,11 @@ uint32_t DShotRMT::getERPM()
{ {
if (_isBidirectional) if (_isBidirectional)
{ {
_receive_config.signal_range_min_ns = 1000;
_receive_config.signal_range_max_ns = 15000;
rmt_enable(_rmt_rx_channel);
static size_t rx_size = sizeof(_rx_symbols); static size_t rx_size = sizeof(_rx_symbols);
if (_rmt_rx_channel == nullptr) if (_rmt_rx_channel == nullptr)
@ -251,7 +256,7 @@ void DShotRMT::encodeDShotTX(uint16_t dshot_packet, rmt_symbol_word_t *symbols,
// Append the Pause Bits // Append the Pause Bits
symbols[count].level0 = 0; symbols[count].level0 = 0;
symbols[count].duration0 = ticks_per_bit * PAUSE_BITS; symbols[count].duration0 = ticks_per_bit * (_isBidirectional ? SWITCH_PAUSE : PAUSE_BITS);
symbols[count].level1 = 0; symbols[count].level1 = 0;
symbols[count].duration1 = 0; symbols[count].duration1 = 0;
count++; count++;

1
DShotRMT.h
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@ -22,6 +22,7 @@ static constexpr auto DSHOT_THROTTLE_MIN = 48;
static constexpr auto DSHOT_THROTTLE_MAX = 2047; static constexpr auto DSHOT_THROTTLE_MAX = 2047;
static constexpr auto DSHOT_BITS_PER_FRAME = 17; static constexpr auto DSHOT_BITS_PER_FRAME = 17;
static constexpr auto PAUSE_BITS = 21; static constexpr auto PAUSE_BITS = 21;
static constexpr auto SWITCH_PAUSE = 4;
static constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000; static constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000;
static constexpr auto DSHOT_FULL_PACKET = 0b1111111111111111; static constexpr auto DSHOT_FULL_PACKET = 0b1111111111111111;

32
examples/dshot300/dshot300.ino
View File

@ -10,7 +10,7 @@
#include <DShotRMT.h> #include <DShotRMT.h>
// USB serial port settings // USB serial port settings
#define USB_Serial Serial0 constexpr auto &USB_SERIAL = Serial0;
constexpr auto USB_SERIAL_BAUD = 115200; constexpr auto USB_SERIAL_BAUD = 115200;
// Motor configuration // Motor configuration
@ -18,7 +18,7 @@ constexpr auto MOTOR01_PIN = GPIO_NUM_17;
constexpr auto DSHOT_MODE = DSHOT300; constexpr auto DSHOT_MODE = DSHOT300;
// BiDirectional DShot Support (default: false) // BiDirectional DShot Support (default: false)
constexpr auto IS_BIDIRECTIONAL = true; constexpr auto IS_BIDIRECTIONAL = false;
// Motor Magnet count for RPM calculation // Motor Magnet count for RPM calculation
constexpr auto MOTOR01_MAGNET_COUNT = 14; constexpr auto MOTOR01_MAGNET_COUNT = 14;
@ -29,7 +29,7 @@ DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE, IS_BIDIRECTIONAL);
void setup() void setup()
{ {
// Start the USB Serial Port // Start the USB Serial Port
USB_Serial.begin(USB_SERIAL_BAUD); USB_SERIAL.begin(USB_SERIAL_BAUD);
// Initialize DShot Signal // Initialize DShot Signal
motor01.begin(); motor01.begin();
@ -38,9 +38,9 @@ void setup()
motor01.setThrottle(DSHOT_THROTTLE_MIN); motor01.setThrottle(DSHOT_THROTTLE_MIN);
// //
USB_Serial.println("**********************"); USB_SERIAL.println("**********************");
USB_Serial.println("DShotRMT Demo started."); USB_SERIAL.println("DShotRMT Demo started.");
USB_Serial.println("Enter a throttle value (48–2047):"); USB_SERIAL.println("Enter a throttle value (48–2047):");
} }
void loop() void loop()
@ -63,10 +63,10 @@ void loop()
uint32_t rpm = motor01.getMotorRPM(MOTOR01_MAGNET_COUNT); uint32_t rpm = motor01.getMotorRPM(MOTOR01_MAGNET_COUNT);
USB_Serial.print("Throttle: "); USB_SERIAL.print("Throttle: ");
USB_Serial.print(throttle_input); USB_SERIAL.print(throttle_input);
USB_Serial.print(" | RPM: "); USB_SERIAL.print(" | RPM: ");
USB_Serial.println(rpm); USB_SERIAL.println(rpm);
} }
} }
} }
@ -77,19 +77,19 @@ int readSerialThrottle()
// //
static int last_throttle = DSHOT_THROTTLE_MIN; static int last_throttle = DSHOT_THROTTLE_MIN;
if (USB_Serial.available() > 0) if (USB_SERIAL.available() > 0)
{ {
String input = USB_Serial.readStringUntil('\n'); String input = USB_SERIAL.readStringUntil('\n');
int throttle_input = input.toInt(); int throttle_input = input.toInt();
// Clamp the value to the DShot range // Clamp the value to the DShot range
throttle_input = constrain(throttle_input, DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX); throttle_input = constrain(throttle_input, DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX);
last_throttle = throttle_input; last_throttle = throttle_input;
USB_Serial.print("Throttle set to: "); USB_SERIAL.print("Throttle set to: ");
USB_Serial.println(last_throttle); USB_SERIAL.println(last_throttle);
USB_Serial.println("***********************************"); USB_SERIAL.println("***********************************");
USB_Serial.println("Enter a throttle value (48–2047):"); USB_SERIAL.println("Enter a throttle value (48–2047):");
} }
return last_throttle; return last_throttle;