fixing reboot loop
This commit is contained in:
Wastl Kraus
parent
51cac2f1ad
commit
145ce88312
10
README.md
10
README.md
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@ -62,7 +62,7 @@ void setup() {
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motor.begin();
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// Print CPU Info
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DShotRMT::printCpuInfo(Serial);
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printCpuInfo(Serial);
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Serial.println("Motor initialized. Ramping up to 25% throttle...");
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@ -79,7 +79,7 @@ void loop() {
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motor.sendThrottlePercent(0);
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// Print DShot Info
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DShotRMT::printDShotInfo(motor, Serial);
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printDShotInfo(motor, Serial);
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}
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```
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@ -104,7 +104,7 @@ The `web_control` and `web_client` examples require the following additional lib
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The main class is `DShotRMT`. Here are the most important methods:
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- `DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional = false, uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT)`: Constructor to create a new DShotRMT instance.
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- `DShotRMT(gpio_num_t gpio, dshot_mode_t mode = DSHOT300, bool is_bidirectional = false, uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT)`: Constructor to create a new DShotRMT instance.
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- `begin()`: Initializes the DShot RMT channels and encoder.
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- `sendThrottlePercent(float percent)`: Sends a throttle value as a percentage (0.0-100.0) to the ESC.
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- `sendThrottle(uint16_t throttle)`: Sends a raw throttle value (48-2047) to the ESC. A value of 0 sends a motor stop command.
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@ -115,8 +115,8 @@ The main class is `DShotRMT`. Here are the most important methods:
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- `setMotorSpinDirection(bool reversed)`: Sets the motor spin direction. `true` for reversed, `false` for normal.
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- `saveESCSettings()`: Sends a command to the ESC to save its current settings. Use with caution as this writes to ESC's non-volatile memory.
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- `printDShotResult(dshot_result_t &result, Stream &output = Serial)`: Prints the result of a DShot operation to the specified output stream.
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- `DShotRMT::printDShotInfo(const DShotRMT &dshot_rmt, Stream &output = Serial)`: Prints detailed DShot signal information for a given DShotRMT instance.
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- `DShotRMT::printCpuInfo(Stream &output = Serial)`: Prints detailed CPU information.
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- `printDShotInfo(const DShotRMT &dshot_rmt, Stream &output = Serial)`: Prints detailed DShot signal information for a given DShotRMT instance.
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- `printCpuInfo(Stream &output = Serial)`: Prints detailed CPU information.
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- `setMotorMagnetCount(uint16_t magnet_count)`: Sets the motor magnet count for RPM calculation.
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- `getMode()`: Gets the current DShot mode.
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- `isBidirectional()`: Checks if bidirectional DShot is enabled.
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@ -18,7 +18,7 @@ static constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_27;
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// static constexpr auto MOTOR01_PIN = 17;
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// Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
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static constexpr dshot_mode_t DSHOT_MODE = dshot_mode_t::DSHOT300;
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static constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
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// BiDirectional DShot Support (default: false)
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// Note: Bidirectional DShot is currently not officially supported
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@ -26,7 +26,7 @@ static constexpr dshot_mode_t DSHOT_MODE = dshot_mode_t::DSHOT300;
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static constexpr auto IS_BIDIRECTIONAL = false;
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// Motor magnet count for RPM calculation
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static constexpr auto MOTOR01_MAGNET_COUNT = 14;
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// static constexpr auto MOTOR01_MAGNET_COUNT = 14;
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// Creates the motor instance
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DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE, IS_BIDIRECTIONAL);
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@ -41,7 +41,7 @@ void setup()
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motor01.begin();
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// Print CPU Info
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DShotRMT::printCpuInfo(USB_SERIAL);
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printCpuInfo(USB_SERIAL);
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//
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printMenu();
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@ -80,7 +80,7 @@ void loop()
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// Print motor stats every 3 seconds in continuous mode
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if (continuous_throttle && (esp_timer_get_time() - last_stats_print >= 3000000))
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{
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DShotRMT::printDShotInfo(motor01, USB_SERIAL);
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printDShotInfo(motor01, USB_SERIAL);
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USB_SERIAL.println(" ");
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@ -132,7 +132,7 @@ void handleSerialInput(const String &input, uint16_t &throttle, bool &continuous
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}
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else if (input == "info")
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{
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DShotRMT::printDShotInfo(motor01, USB_SERIAL);
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printDShotInfo(motor01, USB_SERIAL);
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}
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else if (input == "rpm" && IS_BIDIRECTIONAL)
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{
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@ -17,7 +17,7 @@ static constexpr auto USB_SERIAL_BAUD = 115200;
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static constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_27;
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// Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
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static constexpr dshot_mode_t DSHOT_MODE = dshot_mode_t::DSHOT300;
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static constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
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// BiDirectional DShot Support (default: false)
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// Note: Bidirectional DShot is currently not officially supported
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@ -44,7 +44,7 @@ void setup()
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motor01.begin();
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// Print CPU Info
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motor01.printCpuInfo();
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printCpuInfo(USB_SERIAL);
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//
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printMenu();
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@ -98,7 +98,7 @@ void handleSerialInput(const String &input)
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}
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else if (input == "info")
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{
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DShotRMT::printDShotInfo(motor01, USB_SERIAL);
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printDShotInfo(motor01, USB_SERIAL);
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}
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else if (input == "rpm" && IS_BIDIRECTIONAL)
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{
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@ -39,10 +39,10 @@ static constexpr auto &USB_SERIAL = Serial;
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static constexpr auto USB_SERIAL_BAUD = 115200;
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// Motor configuration - Pin number or GPIO_PIN
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static constexpr auto MOTOR01_PIN = 17;
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static constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_27;
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// Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
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static constexpr dshot_mode_t DSHOT_MODE = dshot_mode_t::DSHOT300;
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static constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
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// BiDirectional DShot Support (default: false)
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static constexpr auto IS_BIDIRECTIONAL = false; // Note: Bidirectional DShot is currently not officially supported due to instability and external hardware requirements.
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@ -84,7 +84,7 @@ void setup()
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USB_SERIAL.println("DShotRMT Web Client Demo Starting...");
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motor01.begin();
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motor01.printCpuInfo();
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printCpuInfo(USB_SERIAL);
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// Connect to WiFi network
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USB_SERIAL.println("\nConnecting to WiFi network...");
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@ -172,7 +172,7 @@ void loop()
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// Print motor stats every 3 seconds in continuous mode
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if ((esp_timer_get_time() - last_serial_update >= 3000000))
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{
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DShotRMT::printDShotInfo(motor01, USB_SERIAL);
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printDShotInfo(motor01, USB_SERIAL);
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// Get Motor RPM if bidirectional and armed
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if (IS_BIDIRECTIONAL && isArmed)
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@ -447,7 +447,7 @@ void handleSerialInput(const String &input)
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if (input == "info")
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{
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DShotRMT::printDShotInfo(motor01, USB_SERIAL);
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printDShotInfo(motor01, USB_SERIAL);
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USB_SERIAL.println(" ");
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USB_SERIAL.printf("Arming Status: %s\n", isArmed ? "ARMED" : "DISARMED");
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return;
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@ -38,10 +38,10 @@ static constexpr auto &USB_SERIAL = Serial;
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static constexpr auto USB_SERIAL_BAUD = 115200;
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// Motor configuration - Pin number or GPIO_PIN
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static constexpr auto MOTOR01_PIN = 17;
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static constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_27;
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// Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
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static constexpr dshot_mode_t DSHOT_MODE = dshot_mode_t::DSHOT300;
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static constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
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// BiDirectional DShot Support (default: false)
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static constexpr auto IS_BIDIRECTIONAL = false; // Note: Bidirectional DShot is currently not officially supported due to instability and external hardware requirements.
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@ -74,7 +74,7 @@ void setup()
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USB_SERIAL.begin(USB_SERIAL_BAUD);
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motor01.begin();
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motor01.printCpuInfo();
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printCpuInfo(USB_SERIAL);
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// Set IP Address
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WiFi.softAPConfig(local_IP, gateway, subnet);
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@ -138,7 +138,7 @@ void loop()
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// Print motor stats every 3 seconds in continuous mode
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if ((esp_timer_get_time() - last_serial_update >= 3000000))
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{
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DShotRMT::printDShotInfo(motor01, USB_SERIAL);
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printDShotInfo(motor01, USB_SERIAL);
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USB_SERIAL.println(" ");
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@ -254,7 +254,7 @@ void handleSerialInput(const String &input)
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}
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if (input == "info")
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{
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DShotRMT::printDShotInfo(motor01, USB_SERIAL);
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printDShotInfo(motor01, USB_SERIAL);
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USB_SERIAL.println(" ");
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USB_SERIAL.printf("Arming Status: %s\n", isArmed ? "ARMED" : "DISARMED");
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return;
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@ -1,5 +1,5 @@
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name=DShotRMT
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version=0.8.7
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version=0.8.8
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author=Wastl Kraus <wir-sind-die-matrix.de>
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maintainer=Wastl Kraus <wir-sind-die-matrix.de>
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license=MIT
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112
src/DShotRMT.cpp
112
src/DShotRMT.cpp
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@ -8,33 +8,13 @@
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#include <DShotRMT.h>
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// Constructors & Destructor
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// Constructor with GPIO number
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DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional, uint16_t magnet_count)
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: _gpio(gpio),
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_mode(mode),
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_is_bidirectional(is_bidirectional),
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_motor_magnet_count(magnet_count),
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_dshot_timing(DSHOT_TIMING_US[static_cast<int>(mode)]),
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_frame_timer_us(0),
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_rmt_ticks{0},
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_last_throttle(dshotCommands_e::DSHOT_CMD_MOTOR_STOP),
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_last_transmission_time_us(0),
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_last_command_timestamp(0),
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_encoded_frame_value(0),
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_packet{0},
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_pulse_level(1), // DShot standard: signal is idle-low, so pulses start by going HIGH
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_idle_level(0), // DShot standard: signal returns to LOW after the high pulse
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_rmt_tx_channel(nullptr),
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_rmt_rx_channel(nullptr),
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_dshot_encoder(nullptr),
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_tx_channel_config{},
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_rx_channel_config{},
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_rmt_tx_config{},
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_rmt_rx_config{},
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_rx_event_callbacks{},
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_last_erpm_atomic(0),
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_telemetry_ready_flag_atomic(false)
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_dshot_timing(DSHOT_TIMING_US[static_cast<int>(mode)])
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{
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// Pre-calculate timing and bit positions for performance
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_preCalculateRMTTicks();
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@ -78,7 +58,6 @@ DShotRMT::~DShotRMT()
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}
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}
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// Public Core Functions
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// Initialize DShotRMT
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dshot_result_t DShotRMT::begin()
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{
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@ -149,20 +128,16 @@ dshot_result_t DShotRMT::sendThrottlePercent(float percent)
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}
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// Send DShot command to ESC
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dshot_result_t DShotRMT::sendCommand(uint16_t command)
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dshot_result_t DShotRMT::sendCommand(dshotCommands_e command)
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{
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if (command > dshotCommands_e::DSHOT_CMD_MAX)
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{
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return {false, dshot_msg_code_t::DSHOT_COMMAND_NOT_VALID};
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}
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_packet = _buildDShotPacket(command);
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_packet = _buildDShotPacket(static_cast<uint16_t>(command));
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return _sendDShotFrame(_packet);
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}
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// Send full DShot commands for setup etc
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// This is a blocking function that uses delayMicroseconds for repetitions.
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dshot_result_t DShotRMT::sendCommand(dshotCommands_e dshot_command, uint16_t repeat_count, uint16_t delay_us)
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dshot_result_t DShotRMT::_sendCommandInternal(dshotCommands_e dshot_command, uint16_t repeat_count, uint16_t delay_us)
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{
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dshot_result_t result = {false, dshot_msg_code_t::DSHOT_UNKNOWN, NO_DSHOT_TELEMETRY, NO_DSHOT_TELEMETRY};
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@ -205,7 +180,7 @@ dshot_result_t DShotRMT::sendCommand(dshotCommands_e dshot_command, uint16_t rep
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}
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// Get telemetry data
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dshot_result_t DShotRMT::getTelemetry(uint16_t magnet_count)
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dshot_result_t DShotRMT::getTelemetry()
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{
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dshot_result_t result = {false, dshot_msg_code_t::DSHOT_TELEMETRY_FAILED, NO_DSHOT_TELEMETRY, NO_DSHOT_TELEMETRY};
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@ -216,7 +191,7 @@ dshot_result_t DShotRMT::getTelemetry(uint16_t magnet_count)
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}
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// Use stored magnet count if parameter is 0 (default)
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uint16_t final_magnet_count = (magnet_count == 0) ? _motor_magnet_count : magnet_count;
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uint16_t final_magnet_count = _motor_magnet_count;
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// Check if the callback has set the flag for new data
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if (_telemetry_ready_flag_atomic)
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@ -246,22 +221,19 @@ dshot_result_t DShotRMT::setMotorSpinDirection(bool reversed)
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// Use command as a yes / no switch
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dshotCommands_e command = reversed ? dshotCommands_e::DSHOT_CMD_SPIN_DIRECTION_REVERSED : dshotCommands_e::DSHOT_CMD_SPIN_DIRECTION_NORMAL;
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return sendCommand(command, SETTINGS_COMMAND_REPEATS, SETTINGS_COMMAND_DELAY_US);
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return _sendCommandInternal(command, SETTINGS_COMMAND_REPEATS, SETTINGS_COMMAND_DELAY_US);
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}
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dshot_result_t DShotRMT::getESCInfo()
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{
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return sendCommand(dshotCommands_e::DSHOT_CMD_ESC_INFO);
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}
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// Use with caution
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dshot_result_t DShotRMT::saveESCSettings()
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{
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return sendCommand(dshotCommands_e::DSHOT_CMD_SAVE_SETTINGS, SETTINGS_COMMAND_REPEATS, SETTINGS_COMMAND_DELAY_US);
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return _sendCommandInternal(dshotCommands_e::DSHOT_CMD_SAVE_SETTINGS, SETTINGS_COMMAND_REPEATS, SETTINGS_COMMAND_DELAY_US);
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}
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// Simple check
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bool DShotRMT::_isValidCommand(dshotCommands_e command)
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bool DShotRMT::_isValidCommand(dshotCommands_e command) const
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{
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return (command >= dshotCommands_e::DSHOT_CMD_MOTOR_STOP && command <= dshotCommands_e::DSHOT_CMD_MAX);
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}
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@ -271,8 +243,8 @@ dshot_result_t DShotRMT::_executeCommand(dshotCommands_e command)
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{
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uint64_t start_time = esp_timer_get_time();
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// Execute the command using the DShotRMT instance
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dshot_result_t result = sendCommand(command);
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_packet = _buildDShotPacket(static_cast<uint16_t>(command));
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dshot_result_t result = _sendDShotFrame(_packet);
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uint64_t end_time = esp_timer_get_time();
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_last_command_timestamp = end_time;
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@ -350,6 +322,7 @@ dshot_result_t DShotRMT::_initRXChannel()
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return {true, dshot_msg_code_t::DSHOT_RX_INIT_SUCCESS};
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}
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//
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dshot_result_t DShotRMT::_initDShotEncoder()
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{
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rmt_bytes_encoder_config_t encoder_config = {
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@ -367,8 +340,7 @@ dshot_result_t DShotRMT::_initDShotEncoder()
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},
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.flags = {
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.msb_first = 1 // DShot is MSB first
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}
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};
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}};
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if (rmt_new_bytes_encoder(&encoder_config, &_dshot_encoder) != DSHOT_OK)
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{
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@ -379,7 +351,7 @@ dshot_result_t DShotRMT::_initDShotEncoder()
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}
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// Private Packet Management Functions
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dshot_packet_t DShotRMT::_buildDShotPacket(const uint16_t &value)
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dshot_packet_t DShotRMT::_buildDShotPacket(const uint16_t &value) const
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{
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dshot_packet_t packet = {};
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@ -393,14 +365,14 @@ dshot_packet_t DShotRMT::_buildDShotPacket(const uint16_t &value)
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return packet;
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}
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uint16_t DShotRMT::_buildDShotFrameValue(const dshot_packet_t &packet)
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uint16_t DShotRMT::_buildDShotFrameValue(const dshot_packet_t &packet) const
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{
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// Combine throttle, telemetry bit, and CRC into a single 16-bit frame
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uint16_t data_and_telemetry = (packet.throttle_value << 1) | packet.telemetric_request;
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return (data_and_telemetry << 4) | packet.checksum;
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}
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uint16_t DShotRMT::_calculateCRC(const uint16_t &data)
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uint16_t DShotRMT::_calculateCRC(const uint16_t &data) const
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{
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// Standard DShot CRC calculation using XOR
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uint16_t crc = (data ^ (data >> 4) ^ (data >> 8)) & DSHOT_CRC_MASK;
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@ -463,7 +435,7 @@ dshot_result_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
|
|||
// This function needs to be fast, as it generates the RMT symbols just before sending
|
||||
|
||||
// Placed in IRAM for high performance, as it's called from an ISR context
|
||||
uint16_t IRAM_ATTR DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
|
||||
uint16_t IRAM_ATTR DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols) const
|
||||
{
|
||||
uint32_t gcr_value = 0;
|
||||
|
||||
|
|
@ -503,7 +475,7 @@ uint16_t IRAM_ATTR DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
|
|||
}
|
||||
|
||||
// Timing Control Functions
|
||||
bool IRAM_ATTR DShotRMT::_isFrameIntervalElapsed()
|
||||
bool IRAM_ATTR DShotRMT::_isFrameIntervalElapsed() const
|
||||
{
|
||||
// Check if the minimum interval between frames has passed
|
||||
uint64_t current_time = esp_timer_get_time();
|
||||
|
|
@ -537,47 +509,3 @@ bool IRAM_ATTR DShotRMT::_on_rx_done(rmt_channel_handle_t rmt_rx_channel, const
|
|||
|
||||
return false;
|
||||
}
|
||||
|
||||
// Public Static Utility Functions
|
||||
void DShotRMT::printDShotInfo(const DShotRMT &dshot_rmt, Stream &output)
|
||||
{
|
||||
output.println("\n === DShot Signal Info === ");
|
||||
|
||||
uint16_t dshot_mode_val = 0;
|
||||
switch (dshot_rmt.getMode())
|
||||
{
|
||||
case dshot_mode_t::DSHOT150:
|
||||
dshot_mode_val = 150;
|
||||
break;
|
||||
case dshot_mode_t::DSHOT300:
|
||||
dshot_mode_val = 300;
|
||||
break;
|
||||
case dshot_mode_t::DSHOT600:
|
||||
dshot_mode_val = 600;
|
||||
break;
|
||||
case dshot_mode_t::DSHOT1200:
|
||||
dshot_mode_val = 1200;
|
||||
break;
|
||||
}
|
||||
output.printf("Current Mode: DSHOT%d\n", dshot_mode_val);
|
||||
|
||||
output.printf("Bidirectional: %s\n", dshot_rmt.isBidirectional() ? "YES" : "NO");
|
||||
output.printf("Current Packet: ");
|
||||
|
||||
for (int i = DSHOT_BITS_PER_FRAME - 1; i >= 0; --i)
|
||||
{
|
||||
output.print((dshot_rmt.getEncodedFrameValue() >> i) & 1);
|
||||
}
|
||||
|
||||
output.printf("\nCurrent Value: %u\n", dshot_rmt.getThrottleValue());
|
||||
}
|
||||
|
||||
void DShotRMT::printCpuInfo(Stream &output)
|
||||
{
|
||||
output.println("\n === CPU Info === ");
|
||||
output.printf("Chip Model: %s\n", ESP.getChipModel());
|
||||
output.printf("Chip Revision: %d\n", ESP.getChipRevision());
|
||||
output.printf("CPU Freq = %lu MHz\n", ESP.getCpuFreqMHz());
|
||||
output.printf("XTAL Freq = %lu MHz\n", getXtalFrequencyMhz());
|
||||
output.printf("APB Freq = %lu Hz\n", getApbFrequency());
|
||||
}
|
||||
|
|
|
|||
178
src/DShotRMT.h
178
src/DShotRMT.h
|
|
@ -9,64 +9,49 @@
|
|||
#pragma once
|
||||
|
||||
#include <Arduino.h>
|
||||
#include <dshot_definitions.h>
|
||||
#include <driver/gpio.h>
|
||||
#include <driver/rmt_tx.h>
|
||||
#include <driver/rmt_rx.h>
|
||||
#include <atomic>
|
||||
|
||||
// Main class for DShot signal generation and reception.
|
||||
// This class provides an interface to generate DShot signals for Electronic Speed Controllers (ESCs)
|
||||
// and to receive telemetry data using the ESP32's RMT peripheral.
|
||||
#include "dshot_definitions.h"
|
||||
#include <driver/rmt_encoder.h>
|
||||
|
||||
// DShotRMT Class Definition
|
||||
class DShotRMT
|
||||
{
|
||||
public:
|
||||
// Constructor for DShotRMT with GPIO number.
|
||||
explicit DShotRMT(gpio_num_t gpio = GPIO_NUM_16, dshot_mode_t mode = dshot_mode_t::DSHOT300, bool is_bidirectional = false, uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT);
|
||||
explicit DShotRMT(gpio_num_t gpio = GPIO_NUM_16, dshot_mode_t mode = DSHOT300, bool is_bidirectional = false, uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT);
|
||||
|
||||
// Constructor for DShotRMT with Arduino pin number.
|
||||
DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional, uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT);
|
||||
|
||||
// Destructor for DShotRMT.
|
||||
// Cleans up RMT channels and encoder resources.
|
||||
// Destructor
|
||||
~DShotRMT();
|
||||
|
||||
// Public Core Functions
|
||||
// Initializes the DShot RMT channels and encoder.
|
||||
dshot_result_t begin();
|
||||
|
||||
// Sends a DShot throttle value to the ESC.
|
||||
dshot_result_t sendThrottle(uint16_t throttle);
|
||||
|
||||
// Sends a DShot throttle value as a percentage to the ESC.
|
||||
// Sends a throttle value as a percentage (0.0-100.0) to the ESC.
|
||||
dshot_result_t sendThrottlePercent(float percent);
|
||||
|
||||
// Sends a single DShot command to the ESC.
|
||||
dshot_result_t sendCommand(uint16_t command);
|
||||
// Sends a raw throttle value (48-2047) to the ESC. A value of 0 sends a motor stop command.
|
||||
dshot_result_t sendThrottle(uint16_t throttle);
|
||||
|
||||
// Sends a DShot command multiple times with a delay between repetitions. This is a blocking function.
|
||||
dshot_result_t sendCommand(dshotCommands_e dshot_command, uint16_t repeat_count = DEFAULT_CMD_REPEAT_COUNT, uint16_t delay_us = DEFAULT_CMD_DELAY_US);
|
||||
// Sends a DShot command (0-47) to the ESC.
|
||||
dshot_result_t sendCommand(dshotCommands_e command);
|
||||
|
||||
// Retrieves telemetry data from the ESC.
|
||||
dshot_result_t getTelemetry(uint16_t magnet_count = 0);
|
||||
dshot_result_t getTelemetry();
|
||||
|
||||
// Sends a command to the ESC to request ESC information.
|
||||
dshot_result_t getESCInfo();
|
||||
|
||||
// Sets the motor spin direction.
|
||||
// Sets the motor spin direction. 'true' for reversed, 'false' for normal.
|
||||
dshot_result_t setMotorSpinDirection(bool reversed);
|
||||
|
||||
// Sends a command to the ESC to save its current settings.
|
||||
// Use with caution as this writes to ESC's non-volatile memory.
|
||||
// Sends a command to the ESC to save its current settings. Use with caution as this writes to ESC's non-volatile memory.
|
||||
dshot_result_t saveESCSettings();
|
||||
|
||||
// Public Utility & Info Functions
|
||||
// Prints detailed DShot signal information for a given DShotRMT instance.
|
||||
static void printDShotInfo(const DShotRMT &dshot_rmt, Stream &output = Serial);
|
||||
|
||||
// Prints detailed CPU information.
|
||||
static void printCpuInfo(Stream &output = Serial);
|
||||
|
||||
// Sets the motor magnet count for RPM calculation.
|
||||
void setMotorMagnetCount(uint16_t magnet_count);
|
||||
|
||||
|
|
@ -76,41 +61,29 @@ public:
|
|||
// Checks if bidirectional DShot is enabled.
|
||||
bool isBidirectional() const { return _is_bidirectional; }
|
||||
|
||||
// Gets the last encoded DShot frame value.
|
||||
// Gets the encoded frame value.
|
||||
uint16_t getEncodedFrameValue() const { return _encoded_frame_value; }
|
||||
|
||||
// Gets the last transmitted throttle value.
|
||||
uint16_t getThrottleValue() const { return _packet.throttle_value; }
|
||||
|
||||
// Testing return "verbose" messages
|
||||
const char *getDShotMsg(dshot_result_t &result) const { return (_get_result_code_str(result.result_code)); }
|
||||
|
||||
// Deprecated Methods
|
||||
// Deprecated. Use sendThrottle() instead.
|
||||
[[deprecated("Use sendThrottle() instead")]]
|
||||
bool setThrottle(uint16_t throttle)
|
||||
{
|
||||
auto result = sendThrottle(throttle);
|
||||
return result.success;
|
||||
}
|
||||
dshot_result_t sendValue(uint16_t value) { return sendThrottle(value); }
|
||||
|
||||
// Deprecated. Use sendCommand() instead.
|
||||
[[deprecated("Use sendCommand() instead")]]
|
||||
bool sendDShotCommand(uint16_t command)
|
||||
{
|
||||
auto result = sendCommand(command);
|
||||
return result.success;
|
||||
}
|
||||
|
||||
// Deprecated. Use getTelemetry() instead.
|
||||
[[deprecated("Use getTelemetry() instead")]]
|
||||
uint32_t getMotorRPM(uint8_t magnet_count)
|
||||
{
|
||||
auto result = getTelemetry(magnet_count);
|
||||
return result.motor_rpm;
|
||||
}
|
||||
dshot_result_t sendCommand(uint16_t command) { return sendCommand(static_cast<dshotCommands_e>(command)); }
|
||||
|
||||
private:
|
||||
// --- UTILITY METHODS ---
|
||||
bool _isValidCommand(dshotCommands_e command);
|
||||
bool _isValidCommand(dshotCommands_e command) const;
|
||||
dshot_result_t _executeCommand(dshotCommands_e command);
|
||||
dshot_result_t _sendCommandInternal(dshotCommands_e dshot_command, uint16_t repeat_count, uint16_t delay_us);
|
||||
|
||||
// Core Configuration Variables
|
||||
gpio_num_t _gpio;
|
||||
|
|
@ -118,33 +91,33 @@ private:
|
|||
bool _is_bidirectional;
|
||||
uint16_t _motor_magnet_count;
|
||||
const dshot_timing_us_t &_dshot_timing;
|
||||
uint64_t _frame_timer_us;
|
||||
uint64_t _frame_timer_us = 0;
|
||||
|
||||
// Timing & Packet Variables
|
||||
rmt_ticks_t _rmt_ticks;
|
||||
uint16_t _last_throttle;
|
||||
uint64_t _last_transmission_time_us;
|
||||
uint64_t _last_command_timestamp;
|
||||
uint16_t _encoded_frame_value;
|
||||
dshot_packet_t _packet;
|
||||
uint16_t _pulse_level; // DShot protocol: Signal is idle-low, so pulses start by going HIGH.
|
||||
uint16_t _idle_level; // DShot protocol: Signal returns to LOW after the high pulse.
|
||||
rmt_ticks_t _rmt_ticks{};
|
||||
uint16_t _last_throttle = dshotCommands_e::DSHOT_CMD_MOTOR_STOP;
|
||||
uint64_t _last_transmission_time_us = 0;
|
||||
uint64_t _last_command_timestamp = 0;
|
||||
uint16_t _encoded_frame_value = 0;
|
||||
dshot_packet_t _packet{};
|
||||
uint16_t _pulse_level = 1; // DShot protocol: Signal is idle-low, so pulses start by going HIGH.
|
||||
uint16_t _idle_level = 0; // DShot protocol: Signal returns to LOW after the high pulse.
|
||||
|
||||
// RMT Hardware Handles
|
||||
rmt_channel_handle_t _rmt_tx_channel;
|
||||
rmt_channel_handle_t _rmt_rx_channel;
|
||||
rmt_encoder_handle_t _dshot_encoder;
|
||||
rmt_channel_handle_t _rmt_tx_channel = nullptr;
|
||||
rmt_channel_handle_t _rmt_rx_channel = nullptr;
|
||||
rmt_encoder_handle_t _dshot_encoder = nullptr;
|
||||
|
||||
// RMT Configuration Structures
|
||||
rmt_tx_channel_config_t _tx_channel_config;
|
||||
rmt_rx_channel_config_t _rx_channel_config;
|
||||
rmt_transmit_config_t _rmt_tx_config;
|
||||
rmt_receive_config_t _rmt_rx_config;
|
||||
rmt_tx_channel_config_t _tx_channel_config{};
|
||||
rmt_rx_channel_config_t _rx_channel_config{};
|
||||
rmt_transmit_config_t _rmt_tx_config{};
|
||||
rmt_receive_config_t _rmt_rx_config{};
|
||||
|
||||
// Bidirectional / Telemetry Variables
|
||||
rmt_rx_event_callbacks_t _rx_event_callbacks;
|
||||
std::atomic<uint16_t> _last_erpm_atomic;
|
||||
std::atomic<bool> _telemetry_ready_flag_atomic;
|
||||
rmt_rx_event_callbacks_t _rx_event_callbacks{};
|
||||
std::atomic<uint16_t> _last_erpm_atomic{0};
|
||||
std::atomic<bool> _telemetry_ready_flag_atomic{false};
|
||||
|
||||
// Private Initialization Functions
|
||||
dshot_result_t _initTXChannel();
|
||||
|
|
@ -152,19 +125,78 @@ private:
|
|||
dshot_result_t _initDShotEncoder();
|
||||
|
||||
// Private Packet Management Functions
|
||||
dshot_packet_t _buildDShotPacket(const uint16_t &value);
|
||||
uint16_t _buildDShotFrameValue(const dshot_packet_t &packet);
|
||||
uint16_t _calculateCRC(const uint16_t &data);
|
||||
dshot_packet_t _buildDShotPacket(const uint16_t &value) const;
|
||||
uint16_t _buildDShotFrameValue(const dshot_packet_t &packet) const;
|
||||
uint16_t _calculateCRC(const uint16_t &data) const;
|
||||
void _preCalculateRMTTicks();
|
||||
|
||||
// Private Frame Processing Functions
|
||||
dshot_result_t _sendDShotFrame(const dshot_packet_t &packet);
|
||||
uint16_t _decodeDShotFrame(const rmt_symbol_word_t *symbols);
|
||||
uint16_t _decodeDShotFrame(const rmt_symbol_word_t *symbols) const;
|
||||
|
||||
// Private Timing Control Functions
|
||||
bool _isFrameIntervalElapsed();
|
||||
bool _isFrameIntervalElapsed() const;
|
||||
void _recordFrameTransmissionTime();
|
||||
|
||||
// Static Callback Functions
|
||||
static bool _on_rx_done(rmt_channel_handle_t rmt_rx_channel, const rmt_rx_done_event_data_t *edata, void *user_data);
|
||||
};
|
||||
|
||||
// Helper to quick print DShot result codes
|
||||
inline void printDShotResult(dshot_result_t &result, Stream &output = Serial)
|
||||
{
|
||||
output.printf("Status: %s - %s", result.success ? "SUCCESS" : "FAILED", _get_result_code_str(result.result_code));
|
||||
|
||||
// Print telemetry data if available
|
||||
if (result.success && (result.erpm > 0 || result.motor_rpm > 0))
|
||||
{
|
||||
output.printf(" | eRPM: %u, Motor RPM: %u", result.erpm, result.motor_rpm);
|
||||
}
|
||||
|
||||
output.println();
|
||||
}
|
||||
|
||||
// Helper to print DShot signal info
|
||||
inline void printDShotInfo(const DShotRMT &dshot_rmt, Stream &output = Serial)
|
||||
{
|
||||
output.println("\n === DShot Signal Info === ");
|
||||
|
||||
uint16_t dshot_mode_val = 0;
|
||||
switch (dshot_rmt.getMode())
|
||||
{
|
||||
case DSHOT150:
|
||||
dshot_mode_val = 150;
|
||||
break;
|
||||
case DSHOT300:
|
||||
dshot_mode_val = 300;
|
||||
break;
|
||||
case DSHOT600:
|
||||
dshot_mode_val = 600;
|
||||
break;
|
||||
case DSHOT1200:
|
||||
dshot_mode_val = 1200;
|
||||
break;
|
||||
}
|
||||
|
||||
output.printf("Current Mode: DSHOT%d\n", dshot_mode_val);
|
||||
output.printf("Bidirectional: %s\n", dshot_rmt.isBidirectional() ? "YES" : "NO");
|
||||
output.printf("Current Packet: ");
|
||||
|
||||
for (int i = DSHOT_BITS_PER_FRAME - 1; i >= 0; --i)
|
||||
{
|
||||
output.print((dshot_rmt.getEncodedFrameValue() >> i) & 1);
|
||||
}
|
||||
|
||||
output.printf("\nCurrent Value: %u\n", dshot_rmt.getThrottleValue());
|
||||
}
|
||||
|
||||
// Helper to print CPU info
|
||||
inline void printCpuInfo(Stream &output = Serial)
|
||||
{
|
||||
output.println("\n === CPU Info === ");
|
||||
output.printf("Chip Model: %s\n", ESP.getChipModel());
|
||||
output.printf("Chip Revision: %d\n", ESP.getChipRevision());
|
||||
output.printf("CPU Freq = %lu MHz\n", ESP.getCpuFreqMHz());
|
||||
output.printf("XTAL Freq = %lu MHz\n", getXtalFrequencyMhz());
|
||||
output.printf("APB Freq = %lu Hz\n", getApbFrequency());
|
||||
}
|
||||
|
|
@ -6,14 +6,15 @@
|
|||
#include <driver/rmt_rx.h>
|
||||
#include <atomic>
|
||||
|
||||
// Defines the available DShot communication speeds with type safety.
|
||||
enum class dshot_mode_t
|
||||
// Defines the available DShot communication speeds.
|
||||
enum dshot_mode_t
|
||||
{
|
||||
DSHOT_OFF,
|
||||
DSHOT150,
|
||||
DSHOT300,
|
||||
DSHOT600,
|
||||
DSHOT1200
|
||||
DSHOT1200,
|
||||
DSHOT_MODE_MAX
|
||||
};
|
||||
|
||||
// Represents the 16-bit DShot data packet sent to the ESC.
|
||||
|
|
@ -157,7 +158,8 @@ const dshot_timing_us_t DSHOT_TIMING_US[] = {
|
|||
{6.67, 5.00}, // DSHOT150
|
||||
{3.33, 2.50}, // DSHOT300
|
||||
{1.67, 1.25}, // DSHOT600
|
||||
{0.83, 0.67} // DSHOT1200
|
||||
{0.83, 0.67}, // DSHOT1200
|
||||
{0.00, 0.00} // DSHOT_MODE_MAX (dummy entry)
|
||||
};
|
||||
|
||||
// Error Messages
|
||||
|
|
@ -246,17 +248,3 @@ inline const char *_get_result_code_str(dshot_msg_code_t code)
|
|||
return UNKNOWN_ERROR;
|
||||
}
|
||||
}
|
||||
|
||||
// Helper to quick print DShot result codes
|
||||
inline void printDShotResult(dshot_result_t &result, Stream &output = Serial)
|
||||
{
|
||||
output.printf("Status: %s - %s", result.success ? "SUCCESS" : "FAILED", _get_result_code_str(result.result_code));
|
||||
|
||||
// Print telemetry data if available
|
||||
if (result.success && (result.erpm > 0 || result.motor_rpm > 0))
|
||||
{
|
||||
output.printf(" | eRPM: %u, Motor RPM: %u", result.erpm, result.motor_rpm);
|
||||
}
|
||||
|
||||
output.println();
|
||||
}
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
/**
|
||||
* @file ota_update.h
|
||||
* @brief DShot signal generation using ESP32 RMT with bidirectional support
|
||||
* @brief Contains the HTML, CSS, and JavaScript for the OTA (Over-The-Air) update web page.
|
||||
* @author Wastl Kraus
|
||||
* @date 2025-09-13
|
||||
* @license MIT
|
||||
|
|
|
|||
|
|
@ -1,6 +1,6 @@
|
|||
/**
|
||||
* @file web_content.h
|
||||
* @brief DShot signal generation using ESP32 RMT with bidirectional support
|
||||
* @brief Contains the HTML, CSS, and JavaScript for the main DShot control web page.
|
||||
* @author Wastl Kraus
|
||||
* @date 2025-09-13
|
||||
* @license MIT
|
||||
|
|
|
|||
Loading…
Reference in New Issue