...DShot Mode rework
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Wastl Kraus
parent
2f59227788
commit
11cc41f742
78
DShotRMT.cpp
78
DShotRMT.cpp
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@ -15,37 +15,14 @@
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DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool isBidirectional)
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: _gpio(gpio), _mode(mode), _isBidirectional(isBidirectional)
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{
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// Fixed Timings for compatibility
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_frame_time = dshot_times.frameLength + DSHOT_SWITCH_TIME;
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// Setting up fixed DShot Frame length
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switch (_mode)
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{
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case DSHOT_OFF:
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_frameLength = 0;
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break;
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case DSHOT150:
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_frameLength = 128;
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break;
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case DSHOT300:
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_frameLength = 64;
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break;
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case DSHOT600:
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_frameLength = 32;
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break;
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case DSHOT1200:
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_frameLength = 16;
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break;
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default:
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break;
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}
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// DShot Frame length incl. DShot answer duration
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// DShot Frame answer padding
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if (_isBidirectional)
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{
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_frameLength += _frameLength;
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_frame_time += _frame_time;
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}
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// Add frame tolerance
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_frameLength = _frameLength + DSHOT_SWITCH_TIME;
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}
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// Initializes RMT TX and RX channels and encoder configuration
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@ -86,7 +63,7 @@ void DShotRMT::begin()
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.trans_queue_depth = TX_BUFFER_SIZE};
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// Transmission configuration
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_transmit_config.loop_count = 0;
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_transmit_config.loop_count = NULL;
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_transmit_config.flags.eot_level = _isBidirectional;
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if (rmt_new_tx_channel(&_rmt_tx_channel_config, &_rmt_tx_channel) != 0)
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@ -131,7 +108,7 @@ void DShotRMT::setThrottle(uint16_t throttle)
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encodeDShotTX(packet, tx_symbols);
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// Ensure frame lenght for compatibility
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if (micros() - last_time >= _frameLength)
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if (micros() - last_time >= _frame_time)
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{
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// Transmit the packet
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if (rmt_transmit(_rmt_tx_channel, _dshot_encoder, tx_symbols, DSHOT_SYMBOLS_SIZE, &_transmit_config) != 0)
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@ -206,40 +183,7 @@ uint16_t DShotRMT::parseDShotPacket(const dshot_packet_t dshot_packet)
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// Converts a 16-bit packet into a valid DShot frame for RMT
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void DShotRMT::encodeDShotTX(dshot_packet_t dshot_packet, rmt_symbol_word_t *symbols)
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{
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uint16_t ticks_per_bit = 0;
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uint16_t ticks_zero_high = 0;
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uint16_t ticks_one_high = 0;
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// Select timing based on DShot mode
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switch (_mode)
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{
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case DSHOT150:
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ticks_per_bit = 64;
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ticks_zero_high = 24;
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ticks_one_high = 48;
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break;
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case DSHOT300:
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ticks_per_bit = 32;
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ticks_zero_high = 12;
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ticks_one_high = 24;
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break;
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case DSHOT600:
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ticks_per_bit = 16;
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ticks_zero_high = 6;
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ticks_one_high = 12;
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break;
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case DSHOT1200:
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ticks_per_bit = 8;
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ticks_zero_high = 3;
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ticks_one_high = 6;
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break;
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case DSHOT_OFF:
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return;
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}
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uint16_t ticks_zero_low = ticks_per_bit - ticks_zero_high;
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uint16_t ticks_one_low = ticks_per_bit - ticks_one_high;
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// Encoding to "raw" DShot Packet
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uint16_t frame_bits = parseDShotPacket(dshot_packet);
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// Always start with the "first" bit
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@ -252,16 +196,16 @@ void DShotRMT::encodeDShotTX(dshot_packet_t dshot_packet, rmt_symbol_word_t *sym
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if (_isBidirectional)
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{
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symbols[count].level0 = 0;
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symbols[count].duration0 = bit ? ticks_one_high : ticks_zero_high;
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symbols[count].duration0 = bit ? dshot_times.ticks_one_high : dshot_times.ticks_zero_high;
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symbols[count].level1 = 1;
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symbols[count].duration1 = bit ? ticks_one_low : ticks_zero_low;
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symbols[count].duration1 = bit ? dshot_times.ticks_one_low : dshot_times.ticks_zero_low;
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}
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else
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{
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symbols[count].level0 = 1;
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symbols[count].duration0 = bit ? ticks_one_high : ticks_zero_high;
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symbols[count].duration0 = bit ? dshot_times.ticks_one_high : dshot_times.ticks_zero_high;
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symbols[count].level1 = 0;
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symbols[count].duration1 = bit ? ticks_one_low : ticks_zero_low;
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symbols[count].duration1 = bit ? dshot_times.ticks_one_low : dshot_times.ticks_zero_low;
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}
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count++;
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}
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40
DShotRMT.h
40
DShotRMT.h
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@ -37,10 +37,30 @@ typedef enum dshot_mode_s
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DSHOT150,
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DSHOT300,
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DSHOT600,
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DSHOT1200,
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COUNTER
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DSHOT1200
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} dshot_mode_t;
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// --- DShot Timings ---
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typedef struct dshot_timing_s
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{
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uint16_t frameLength;
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uint16_t ticks_per_bit;
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uint16_t ticks_one_high;
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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_low;
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} dshot_timing_t;
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// DShot Pulse Length Settings
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const dshot_timing_t dshot_timings[] = {
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{0, 0, 0, 0, 0, 0}, // DSHOT_OFF
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{128, 64, 48, 24, 40, 16}, // DSHOT150
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{64, 32, 24, 12, 20, 8}, // DSHOT300
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{32, 16, 12, 6, 10, 4}, // DSHOT600
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{16, 8, 6, 3, 5, 2} // DSHOT1200
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};
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//
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// --- DShotRMT Class ---
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class DShotRMT
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{
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@ -61,11 +81,17 @@ public:
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// Accessors for GPIO and DShot settings
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gpio_num_t getGPIO() const { return _gpio; }
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dshot_mode_t getDShotMode() const { return _mode; }
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uint16_t getFrameLenght() const { return _frameLength; }
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// --- Configuration Parameters ---
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gpio_num_t _gpio = GPIO_NUM_NC;
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dshot_mode_t _mode = DSHOT_OFF;
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bool _isBidirectional = false;
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uint16_t _frame_time;
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const dshot_timing_t &dshot_times = dshot_timings[_mode];
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private:
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static constexpr uint8_t DSHOT_BITS_PER_FRAME = 16;
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static constexpr uint8_t DSHOT_SWITCH_TIME = 21;
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static constexpr uint8_t DSHOT_SWITCH_TIME = 42;
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static constexpr uint16_t DSHOT_NULL_PACKET = 0b000000000000000;
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static constexpr uint16_t DSHOT_FULL_PACKET = 0b111111111111111;
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@ -91,12 +117,6 @@ private:
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// Decodes the ESC answer
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uint16_t decodeDShotRX(const rmt_symbol_word_t *symbols, uint32_t count);
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// --- Configuration Parameters ---
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gpio_num_t _gpio = GPIO_NUM_NC;
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dshot_mode_t _mode = DSHOT_OFF;
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bool _isBidirectional = false;
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uint16_t _frameLength = NULL;
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// --- DShot Packets Container ---
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uint16_t _rx_packet = DSHOT_NULL_PACKET;
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@ -114,7 +114,7 @@ Perfect for DShot:
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## 📝 API Reference
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- `DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool isBidirectional, uint8_t pauseDuration = 120)`
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- `DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool isBidirectional)`
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- `void begin()`
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- `void setThrottle(uint16_t throttle)`
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- `uint32_t getERPM()`
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@ -32,6 +32,7 @@ void printRPMPeriodically(uint16_t throttle);
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// Reads throttle value from serial input
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uint16_t readSerialThrottle();
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//
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void setup()
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{
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// Start the USB Serial Port
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@ -48,6 +49,7 @@ void setup()
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USB_SERIAL.println("Enter a throttle value (48–2047):");
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}
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//
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void loop()
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{
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// Read value input from Serial
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@ -96,17 +98,16 @@ uint16_t readSerialThrottle()
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void printRPMPeriodically(uint16_t throttle)
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{
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static unsigned long last_print_time = 0;
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unsigned long now = millis();
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if (now - last_print_time >= 2000)
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if (millis() - last_print_time >= 2000)
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{
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last_print_time = now;
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uint32_t rpm = motor01.getMotorRPM(MOTOR01_MAGNET_COUNT);
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USB_SERIAL.print("Throttle: ");
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USB_SERIAL.print(throttle);
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USB_SERIAL.print(" | RPM: ");
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USB_SERIAL.println(rpm);
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last_print_time = millis();
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}
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}
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