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This commit is contained in:
Wastl Kraus
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8f8222c620
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1bdd2babd2
304
DShotRMT.cpp
304
DShotRMT.cpp
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@ -9,8 +9,6 @@
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#include "DShotRMT.h"
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#include <driver/rmt_tx.h>
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// DShot Timing Configurations
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// Timing parameters for each DShot mode
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// Format: {frame_length_us, ticks_per_bit, ticks_one_high, ticks_one_low, ticks_zero_high, ticks_zero_low}
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constexpr dshot_timing_t DSHOT_TIMINGS[] = {
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@ -21,7 +19,7 @@ constexpr dshot_timing_t DSHOT_TIMINGS[] = {
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{16, 8, 6, 2, 3, 5} // DSHOT1200
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};
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// Constructor with GPIO number
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// Primary constructor with GPIO number
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DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional)
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: _gpio(gpio),
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_mode(mode),
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@ -45,7 +43,7 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional)
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}
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}
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// Simple constructor using pin number
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// Constructor using pin number
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DShotRMT::DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional)
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: DShotRMT((gpio_num_t)pin_nr, mode, is_bidirectional)
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{
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@ -75,7 +73,69 @@ uint16_t DShotRMT::begin()
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return DSHOT_ERROR;
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}
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// All good, start
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return DSHOT_OK;
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}
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// Initialize RMT TX channel
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bool DShotRMT::_initTXChannel()
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{
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// Configure TX channel
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_tx_channel_config.gpio_num = _gpio;
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_tx_channel_config.clk_src = DSHOT_CLOCK_SRC_DEFAULT;
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_tx_channel_config.resolution_hz = DSHOT_RMT_RESOLUTION;
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_tx_channel_config.mem_block_symbols = TX_BUFFER_SIZE;
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_tx_channel_config.trans_queue_depth = RMT_BUFFER_SIZE;
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// Configure transmission
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_transmit_config.loop_count = 0; // No automatic loops - real-time calculation
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_transmit_config.flags.eot_level = _is_bidirectional ? 1 : 0; // Telemetric Bit used as bidir flag
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// Create RMT TX channel
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if (rmt_new_tx_channel(&_tx_channel_config, &_rmt_tx_channel) != DSHOT_OK)
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{
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_dshot_log(TX_INIT_FAILED);
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return DSHOT_ERROR;
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}
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return (rmt_enable(_rmt_tx_channel) == DSHOT_OK);
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}
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// Initialize RMT RX channel
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bool DShotRMT::_initRXChannel()
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{
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// Configure RX channel parameters
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_rx_channel_config.gpio_num = _gpio;
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_rx_channel_config.clk_src = DSHOT_CLOCK_SRC_DEFAULT;
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_rx_channel_config.resolution_hz = DSHOT_RMT_RESOLUTION;
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_rx_channel_config.mem_block_symbols = RX_BUFFER_SIZE;
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// Configure reception parameters (TODO: determine optimal ranges)
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_receive_config.signal_range_min_ns = 2;
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_receive_config.signal_range_max_ns = 64;
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// Create RMT RX channel
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if (rmt_new_rx_channel(&_rx_channel_config, &_rmt_rx_channel) != DSHOT_OK)
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{
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_dshot_log(RX_INIT_FAILED);
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return DSHOT_ERROR;
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}
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return (rmt_enable(_rmt_rx_channel) == DSHOT_OK);
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}
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// Initialize DShot encoder
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bool DShotRMT::_initDShotEncoder()
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{
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// Create copy encoder configuration
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rmt_copy_encoder_config_t encoder_config = {};
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// Create encoder instance
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if (rmt_new_copy_encoder(&encoder_config, &_dshot_encoder) != DSHOT_OK)
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{
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_dshot_log(ENCODER_INIT_FAILED);
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return DSHOT_ERROR;
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}
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return DSHOT_OK;
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}
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@ -90,13 +150,13 @@ bool DShotRMT::sendThrottle(uint16_t throttle)
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return sendCommand(DSHOT_CMD_MOTOR_STOP);
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}
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// Log only if throttle is out of range and different from last time (tricky little thing)
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// Log only if throttle is out of range and different from last time
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if ((throttle < DSHOT_THROTTLE_MIN || throttle > DSHOT_THROTTLE_MAX) && throttle != last_throttle)
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{
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_dshot_log(THROTTLE_NOT_IN_RANGE);
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}
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// Always store the original throttle value (good one)
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// Always store the original throttle value
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last_throttle = throttle;
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// Constrain throttle for transmission and send
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@ -147,136 +207,13 @@ uint16_t DShotRMT::getERPM()
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return _last_erpm;
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}
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// The actual motor rpm
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// Convert eRPM to actual motor RPM
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uint32_t DShotRMT::getMotorRPM(uint8_t magnet_count)
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{
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uint8_t pole_pairs = max(1, magnet_count / 2);
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return getERPM() / pole_pairs;
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}
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// Initialize RMT TX channel
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bool DShotRMT::_initTXChannel()
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{
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// Configure TX channel
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_tx_channel_config.gpio_num = _gpio;
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_tx_channel_config.clk_src = DSHOT_CLOCK_SRC_DEFAULT;
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_tx_channel_config.resolution_hz = DSHOT_RMT_RESOLUTION;
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_tx_channel_config.mem_block_symbols = TX_BUFFER_SIZE;
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_tx_channel_config.trans_queue_depth = RMT_BUFFER_SIZE;
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// Configure transmission
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_transmit_config.loop_count = 0; // No automatic loops - real-time calculation
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// Telemetric Bit used as bidir flag
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_transmit_config.flags.eot_level = _is_bidirectional ? 1 : 0;
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// Create RMT TX channel
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if (rmt_new_tx_channel(&_tx_channel_config, &_rmt_tx_channel) != DSHOT_OK)
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{
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_dshot_log(TX_INIT_FAILED);
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return DSHOT_ERROR;
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}
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return (rmt_enable(_rmt_tx_channel) == DSHOT_OK);
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}
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// Initialize RMT RX channel
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bool DShotRMT::_initRXChannel()
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{
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// Configure RX channel parameters
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_rx_channel_config.gpio_num = _gpio;
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_rx_channel_config.clk_src = DSHOT_CLOCK_SRC_DEFAULT;
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_rx_channel_config.resolution_hz = DSHOT_RMT_RESOLUTION;
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_rx_channel_config.mem_block_symbols = RX_BUFFER_SIZE;
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// Configure reception parameters (TODO: determine optimal ranges)
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_receive_config.signal_range_min_ns = 2;
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_receive_config.signal_range_max_ns = 128;
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// Create RMT RX channel
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if (rmt_new_rx_channel(&_rx_channel_config, &_rmt_rx_channel) != DSHOT_OK)
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{
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_dshot_log(RX_INIT_FAILED);
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return DSHOT_ERROR;
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}
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//
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return (rmt_enable(_rmt_rx_channel) == DSHOT_OK);
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}
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// Initialize DShot encoder
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bool DShotRMT::_initDShotEncoder()
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{
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// Create copy encoder configuration
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rmt_copy_encoder_config_t encoder_config = {};
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// Create encoder instance
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if (rmt_new_copy_encoder(&encoder_config, &_dshot_encoder) != DSHOT_OK)
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{
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_dshot_log(ENCODER_INIT_FAILED);
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return DSHOT_ERROR;
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}
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return DSHOT_OK;
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}
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// Transmit DShot packet via RMT
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uint16_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
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{
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// RMT is crazy fast
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if (!_timer_signal())
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{
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return DSHOT_ERROR;
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}
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// Encode DShot packet into RMT symbols
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_encodeDShotFrame(packet, _tx_symbols);
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// Calculate transmission data size
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size_t tx_size_bytes = DSHOT_BITS_PER_FRAME * sizeof(rmt_symbol_word_t);
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// Actual RMT transmission
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uint16_t result = rmt_transmit(_rmt_tx_channel, _dshot_encoder, _tx_symbols, tx_size_bytes, &_transmit_config);
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if (result != DSHOT_OK)
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{
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return DSHOT_ERROR;
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}
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// Update timestamp
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_timer_reset();
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return DSHOT_OK;
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}
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// Calculate CRC
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uint16_t DShotRMT::_calculateCRC(const dshot_packet_t &packet)
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{
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//
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uint16_t data = (packet.throttle_value << 1) | packet.telemetric_request;
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// DShot CRC calculation
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uint16_t crc = (data ^ (data >> 4) ^ (data >> 8)) & 0b0000000000001111;
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// Invert CRC for bidirectional DShot mode
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if (_is_bidirectional)
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{
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crc = (~crc) & 0b0000000000001111;
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}
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return crc;
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}
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// Parse DShot packet into 16-bit format
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uint16_t DShotRMT::_parseDShotPacket(const dshot_packet_t &packet)
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{
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//
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uint16_t data = (packet.throttle_value << 1) | packet.telemetric_request;
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// Add CRC checksum
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return (data << 4) | _calculateCRC(packet);
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}
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// Build a complete DShot packet
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dshot_packet_t DShotRMT::_buildDShotPacket(const uint16_t value)
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{
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@ -291,10 +228,65 @@ dshot_packet_t DShotRMT::_buildDShotPacket(const uint16_t value)
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return packet;
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}
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// Parse DShot packet into 16-bit format
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uint16_t DShotRMT::_parseDShotPacket(const dshot_packet_t &packet)
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{
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uint16_t data = (packet.throttle_value << 1) | packet.telemetric_request;
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// Add CRC checksum
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return (data << 4) | _calculateCRC(packet);
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}
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// Calculate CRC checksum
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uint16_t DShotRMT::_calculateCRC(const dshot_packet_t &packet)
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{
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uint16_t data = (packet.throttle_value << 1) | packet.telemetric_request;
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// DShot CRC calculation
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uint16_t crc = (data ^ (data >> 4) ^ (data >> 8)) & 0b0000000000001111;
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// Invert CRC for bidirectional DShot mode
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if (_is_bidirectional)
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{
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crc = (~crc) & 0b0000000000001111;
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}
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return crc;
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}
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// Transmit DShot packet via RMT
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uint16_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
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{
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// Check timing requirements
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if (!_timer_signal())
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{
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return DSHOT_ERROR;
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}
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// Encode DShot packet into RMT symbols
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_encodeDShotFrame(packet, _tx_symbols);
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// Calculate transmission data size
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size_t tx_size_bytes = DSHOT_BITS_PER_FRAME * sizeof(rmt_symbol_word_t);
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// Perform RMT transmission
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uint16_t result = rmt_transmit(_rmt_tx_channel, _dshot_encoder, _tx_symbols, tx_size_bytes, &_transmit_config);
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if (result != DSHOT_OK)
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{
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return DSHOT_ERROR;
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}
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// Update timestamp
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_timer_reset();
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return DSHOT_OK;
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}
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// Encode DShot packet into RMT symbol format (placed in IRAM for performance)
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bool DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols)
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{
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// Parse packet
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// Parse packet to 16-bit format
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_parsed_packet = _parseDShotPacket(packet);
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// Convert each bit to RMT symbol
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@ -337,7 +329,7 @@ uint16_t DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
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received_frame = (received_frame << 1) | bit;
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}
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// Extract data from received frame
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// Extract data and CRC from received frame
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uint16_t data = received_frame >> 4;
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uint16_t received_crc = received_frame & 0b0000000000001111;
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@ -359,7 +351,25 @@ uint16_t DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
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return data >> 1;
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}
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// Print timing diagnostic information to specified stream (default Serial0)
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// Check if enough time has passed for next transmission
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bool DShotRMT::_timer_signal()
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{
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uint32_t current_time = micros();
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// Handle potential overflow
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uint32_t elapsed = current_time - _last_transmission_time;
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return elapsed >= _frame_timer_us;
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}
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// Reset transmission timer to current time
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bool DShotRMT::_timer_reset()
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{
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_last_transmission_time = micros();
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return DSHOT_OK;
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}
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// Print timing diagnostic information to specified stream
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void DShotRMT::printDshotInfo(Stream &output) const
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{
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output.println(NEW_LINE);
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@ -371,6 +381,7 @@ void DShotRMT::printDshotInfo(Stream &output) const
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_mode == DSHOT300 ? 300 :
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_mode == DSHOT600 ? 600 :
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_mode == DSHOT1200 ? 1200 : 0);
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output.printf("Bidirectional: %s\n", _is_bidirectional ? "YES" : "NO");
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// Timing Info
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@ -396,7 +407,7 @@ void DShotRMT::printDshotInfo(Stream &output) const
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output.printf("Current Value: %u\n", _packet.throttle_value);
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}
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// CPU Info
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// Print CPU information
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void DShotRMT::printCpuInfo(Stream &output) const
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{
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output.println(NEW_LINE);
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@ -408,15 +419,17 @@ void DShotRMT::printCpuInfo(Stream &output) const
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output.printf("APB Freq = %lu Hz\n", getApbFrequency());
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}
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// Print debug values as stream
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void DShotRMT::printDebugStream(Stream &output) const
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{
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// Debug Values as a list
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// Debug Values as CSV format
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output.print(_mode);
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output.print(",");
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output.print(_is_bidirectional);
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output.print(",");
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output.print(_packet.throttle_value);
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output.print(",");
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// The packet bitwise
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for (int i = 15; i >= 0; --i)
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{
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@ -432,22 +445,3 @@ void DShotRMT::printDebugStream(Stream &output) const
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output.print("*/");
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output.print("\n");
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}
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// Check if enough time has passed for next transmission
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bool DShotRMT::_timer_signal()
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{
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//
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uint32_t current_time = micros();
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// Handle potential overflow
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uint32_t elapsed = current_time - _last_transmission_time;
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return elapsed >= _frame_timer_us;
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}
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// Reset transmission timer to current time
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bool DShotRMT::_timer_reset()
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{
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_last_transmission_time = micros();
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return DSHOT_OK;
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}
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87
DShotRMT.h
87
DShotRMT.h
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@ -18,7 +18,6 @@
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constexpr auto DSHOT_THROTTLE_FAILSAFE = 0;
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constexpr auto DSHOT_THROTTLE_MIN = 48;
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constexpr auto DSHOT_THROTTLE_MAX = 2047;
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constexpr auto DSHOT_BITS_PER_FRAME = 16;
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constexpr auto DSHOT_SWITCH_TIME = 30;
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constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000;
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@ -27,11 +26,10 @@ constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000;
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constexpr auto DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
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constexpr auto DSHOT_RMT_RESOLUTION = 10 * 1000 * 1000; // 10 MHz resolution
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constexpr auto RMT_BUFFER_SIZE = DSHOT_BITS_PER_FRAME;
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constexpr auto RX_BUFFER_SIZE = 128;
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constexpr auto TX_BUFFER_SIZE = 64;
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// DShot Mode
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// DShot Mode Enumeration
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typedef enum dshot_mode_e
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{
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DSHOT_OFF,
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@ -44,12 +42,12 @@ typedef enum dshot_mode_e
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// DShot Packet Structure
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typedef struct dshot_packet_s
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{
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uint16_t throttle_value : 11; // 11-bit throttle value
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uint16_t telemetric_request : 1; // Telemetry request bit
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uint16_t checksum : 4; // 4-bit CRC checksum
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uint16_t throttle_value : 11;
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uint16_t telemetric_request : 1;
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uint16_t checksum : 4;
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} dshot_packet_t;
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// DShot Timing Config Structure
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// DShot Timing Configuration Structure
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typedef struct dshot_timing_s
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{
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uint32_t frame_length_us;
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@ -60,10 +58,10 @@ typedef struct dshot_timing_s
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uint16_t ticks_zero_low;
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} dshot_timing_t;
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||||
|
||||
// Timing config for DShot modes
|
||||
// External timing configurations
|
||||
extern const dshot_timing_t DSHOT_TIMINGS[];
|
||||
|
||||
// DShotRMT Class
|
||||
//
|
||||
class DShotRMT
|
||||
{
|
||||
public:
|
||||
|
|
@ -72,90 +70,93 @@ public:
|
|||
dshot_mode_t mode = DSHOT300,
|
||||
bool is_bidirectional = false);
|
||||
|
||||
// Alternative constructor with pin number
|
||||
// Constructor with pin number
|
||||
DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional);
|
||||
|
||||
// Initialize the RMT module and DShot config
|
||||
uint16_t begin();
|
||||
|
||||
// Send throttle value (48-2047)
|
||||
[[deprecated("Use sendThrottle() instead")]]
|
||||
bool setThrottle(uint16_t throttle) { return sendThrottle(throttle); };
|
||||
bool sendThrottle(uint16_t throttle);
|
||||
|
||||
// Send DShot command (0-47)
|
||||
[[deprecated("Use sendCommand() instead")]]
|
||||
bool sendDShotCommand(uint16_t command) { return sendCommand(command); };
|
||||
bool sendCommand(uint16_t command);
|
||||
|
||||
// Get telemetry data (bidirectional mode only)
|
||||
uint16_t getERPM();
|
||||
uint32_t getMotorRPM(uint8_t magnet_count); // Convert eRPM to motor RPM
|
||||
|
||||
// Tools
|
||||
gpio_num_t getGPIO() const { return _gpio; } // Get GPIO pin
|
||||
uint16_t getDShotPacket() const { return _parsed_packet; } // Get raw packet
|
||||
bool is_bidirectional() const { return _is_bidirectional; } // Check if bidirectional
|
||||
// Convert eRPM to motor RPM
|
||||
uint32_t getMotorRPM(uint8_t magnet_count);
|
||||
|
||||
// Print DShot Info
|
||||
//
|
||||
gpio_num_t getGPIO() const { return _gpio; }
|
||||
uint16_t getDShotPacket() const { return _parsed_packet; }
|
||||
bool is_bidirectional() const { return _is_bidirectional; }
|
||||
|
||||
// --- INFO ---
|
||||
void printDshotInfo(Stream &output = Serial0) const;
|
||||
void printCpuInfo(Stream &output = Serial0) const;
|
||||
|
||||
// Prints debug values stream
|
||||
void printDebugStream(Stream &output = Serial0) const;
|
||||
|
||||
// --- DEPRECATED METHODS ---
|
||||
[[deprecated("Use sendThrottle() instead")]]
|
||||
bool setThrottle(uint16_t throttle) { return sendThrottle(throttle); }
|
||||
|
||||
[[deprecated("Use sendCommand() instead")]]
|
||||
bool sendDShotCommand(uint16_t command) { return sendCommand(command); }
|
||||
|
||||
private:
|
||||
// Configuration Variables
|
||||
// --- CONFIG ---
|
||||
gpio_num_t _gpio;
|
||||
dshot_mode_t _mode;
|
||||
uint16_t _is_bidirectional;
|
||||
uint32_t _frame_timer_us;
|
||||
const dshot_timing_t &_timing_config;
|
||||
|
||||
// RMT Config
|
||||
// --- TIMING & STATE VARIABLES ---
|
||||
uint32_t _last_transmission_time;
|
||||
uint16_t _last_erpm;
|
||||
uint16_t _parsed_packet;
|
||||
dshot_packet_t _packet;
|
||||
|
||||
// --- 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_symbol_word_t _tx_symbols[TX_BUFFER_SIZE];
|
||||
rmt_symbol_word_t _rx_symbols[RX_BUFFER_SIZE];
|
||||
// --- 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;
|
||||
|
||||
//
|
||||
uint16_t _last_erpm;
|
||||
uint16_t _parsed_packet;
|
||||
dshot_packet_t _packet;
|
||||
uint32_t _last_transmission_time;
|
||||
// --- RMT DATA BUFFERS ---
|
||||
rmt_symbol_word_t _tx_symbols[TX_BUFFER_SIZE];
|
||||
rmt_symbol_word_t _rx_symbols[RX_BUFFER_SIZE];
|
||||
|
||||
// Helpers
|
||||
// --- INITS ---
|
||||
bool _initTXChannel();
|
||||
bool _initRXChannel();
|
||||
bool _initDShotEncoder();
|
||||
|
||||
// Utilizing RMT
|
||||
uint16_t _sendDShotFrame(const dshot_packet_t &packet);
|
||||
|
||||
// Packet management
|
||||
uint16_t _calculateCRC(const dshot_packet_t &packet);
|
||||
// --- PACKET MANAGEMENT ---
|
||||
dshot_packet_t _buildDShotPacket(const uint16_t value);
|
||||
uint16_t _parseDShotPacket(const dshot_packet_t &packet);
|
||||
uint16_t _calculateCRC(const dshot_packet_t &packet);
|
||||
|
||||
// Frame processing
|
||||
// --- FRAME PROCESSING ---
|
||||
uint16_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);
|
||||
|
||||
// Timer Config
|
||||
// --- TIMING CONTROL ---
|
||||
bool IRAM_ATTR _timer_signal();
|
||||
bool _timer_reset();
|
||||
|
||||
// DShot Messages
|
||||
void _dshot_log(char *msg, Stream &output = Serial0) { output.println(msg); };
|
||||
// --- ERROR HANDLING & LOGGING ---
|
||||
void _dshot_log(char *msg, Stream &output = Serial0) { output.println(msg); }
|
||||
|
||||
// Error Codes and Messages
|
||||
// --- CONSTANTS & ERROR MESSAGES ---
|
||||
static constexpr uint16_t DSHOT_OK = 0;
|
||||
static constexpr uint16_t DSHOT_ERROR = 1;
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue