Merge pull request #8 from derdoktor667/dev
...DShot mode selection reworked and more
This commit is contained in:
Wastl Kraus
GitHub
commit
2a34960e02
160
DShotRMT.cpp
160
DShotRMT.cpp
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@ -12,8 +12,18 @@
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// This class provides an abstraction for sending and optionally receiving DShot frames.
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// It uses ESP32's RMT peripheral for precise timing control, including BiDirectional RX.
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DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool isBidirectional, uint8_t pauseDuration)
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: _gpio(gpio), _mode(mode), _isBidirectional(isBidirectional), _pauseDuration(pauseDuration) {}
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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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// DShot Frame answer padding
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if (_isBidirectional)
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{
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_frame_time += _frame_time;
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}
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}
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// Initializes RMT TX and RX channels and encoder configuration
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void DShotRMT::begin()
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@ -25,7 +35,7 @@ void DShotRMT::begin()
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.gpio_num = _gpio,
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.clk_src = DSHOT_CLOCK_SRC_DEFAULT,
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.resolution_hz = DSHOT_RMT_RESOLUTION,
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.mem_block_symbols = 64,
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.mem_block_symbols = DSHOT_SYMBOLS_SIZE,
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};
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if (rmt_new_rx_channel(&_rmt_rx_channel_config, &_rmt_rx_channel) != 0)
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@ -33,6 +43,7 @@ void DShotRMT::begin()
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Serial.println("Failed to create RX channel");
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return;
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}
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if (rmt_enable(_rmt_rx_channel) != 0)
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{
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Serial.println("Failed to enable RX channel");
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@ -48,12 +59,11 @@ void DShotRMT::begin()
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.gpio_num = _gpio,
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.clk_src = DSHOT_CLOCK_SRC_DEFAULT,
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.resolution_hz = DSHOT_RMT_RESOLUTION,
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.mem_block_symbols = 64,
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.trans_queue_depth = 10,
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};
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.mem_block_symbols = DSHOT_SYMBOLS_SIZE,
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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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@ -61,6 +71,7 @@ void DShotRMT::begin()
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Serial.println("Failed to create TX channel");
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return;
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}
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if (rmt_enable(_rmt_tx_channel) != 0)
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{
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Serial.println("Failed to enable TX channel");
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@ -82,27 +93,33 @@ void DShotRMT::begin()
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// Encodes and transmits a valid DShot throttle value (48 - 2047)
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void DShotRMT::setThrottle(uint16_t throttle)
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{
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// Clamp input range and mask to 11 bits
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throttle = constrain(throttle, DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX) & 0x7FF;
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// Simple timer
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static unsigned long last_time = NULL;
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_lastThrottle = throttle;
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//
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dshot_packet_t packet = {};
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// Convert throttle value to DShot packet format
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_tx_packet = assambleDShotPaket(_lastThrottle);
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packet.throttle_value = (constrain(throttle, DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX) & 0b0000011111111111);
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packet.telemetric_request = _isBidirectional;
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packet.checksum = calculateCRC(packet);
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// Encode RMT symbols
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size_t count = 0;
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encodeDShotTX(_tx_packet, _tx_symbols, count);
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// DShot transcoding
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rmt_symbol_word_t tx_symbols[DSHOT_BITS_PER_FRAME] = {};
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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 >= _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, count * sizeof(rmt_symbol_word_t), &_transmit_config) != 0)
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if (rmt_transmit(_rmt_tx_channel, _dshot_encoder, tx_symbols, DSHOT_SYMBOLS_SIZE, &_transmit_config) != 0)
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{
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Serial.println("Failed to transmit DShot packet");
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return;
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}
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// Pause between frames
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esp_rom_delay_us(_pauseDuration);
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// Timestamp
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last_time = micros();
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}
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}
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// Receives and decodes a response frame from ESC containing eRPM info
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@ -111,13 +128,17 @@ uint32_t DShotRMT::getERPM()
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if (_isBidirectional)
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{
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if (_rmt_rx_channel == nullptr)
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{
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Serial.println("No bidirectional DShot support.");
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return _last_erpm;
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}
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// Try to receive a new frame
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if (!rmt_receive(_rmt_rx_channel, _rx_symbols, sizeof(_rx_symbols), &_receive_config))
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if (!rmt_receive(_rmt_rx_channel, _rx_symbols, DSHOT_SYMBOLS_SIZE, &_receive_config))
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{
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Serial.println("No valid DShot frame received");
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return _last_erpm;
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}
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_last_erpm = decodeDShotRX(_rx_symbols, DSHOT_BITS_PER_FRAME);
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return _last_erpm;
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@ -138,100 +159,53 @@ uint32_t DShotRMT::getMotorRPM(uint8_t magnet_count)
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}
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// Calculates CRC for DShot packet
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uint16_t DShotRMT::calculateCRC(uint16_t dshot_packet)
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uint16_t DShotRMT::calculateCRC(dshot_packet_t dshot_packet)
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{
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uint16_t packet = (dshot_packet << 1) | (_isBidirectional ? 1 : 0);
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// Reset CRC container
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_packet_crc = DSHOT_NULL_PACKET;
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uint16_t crc = (dshot_packet.throttle_value << 1) | (dshot_packet.telemetric_request);
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// CRC calculation for DShot (4 bits)
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_packet_crc = ((packet ^ (packet >> 4) ^ (packet >> 8)) & 0xF);
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dshot_packet.checksum = ((crc ^ (crc >> 4) ^ (crc >> 8)) & 0b0000000000001111);
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// CRC is inverted for bidirectional DShot
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if (_isBidirectional)
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_packet_crc = (~_packet_crc) & 0xF;
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if (dshot_packet.telemetric_request)
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dshot_packet.checksum = (~dshot_packet.checksum) & 0b0000000000001111;
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return _packet_crc;
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return dshot_packet.checksum;
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}
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// Assembles DShot packet (11 bit throttle + 1 bit telemetry request + 4 bit CRC)
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uint16_t DShotRMT::assambleDShotPaket(uint16_t value)
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uint16_t DShotRMT::parseDShotPacket(const dshot_packet_t dshot_packet)
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{
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uint16_t throttle = value & 0x7FF;
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// Reset packet container
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_tx_packet = DSHOT_NULL_PACKET;
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// Assemble raw DShot packet and add checksum
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_packet_crc = calculateCRC(throttle);
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_tx_packet = (throttle << 1) | (_isBidirectional ? 1 : 0);
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_tx_packet = (_tx_packet << 4) | _packet_crc;
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return _tx_packet;
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uint16_t raw = (((dshot_packet.throttle_value << 1) | (dshot_packet.telemetric_request)) & 0b0000111111111111);
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return (((raw << 4) | (dshot_packet.checksum)) & 0b1111111111111111);
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}
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// Converts a 16-bit packet into a valid DShot frame for RMT
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void DShotRMT::encodeDShotTX(uint16_t dshot_packet, rmt_symbol_word_t *symbols, size_t &count)
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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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count = 0;
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// Encoding to "raw" DShot Packet
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uint16_t frame_bits = parseDShotPacket(dshot_packet);
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uint32_t ticks_per_bit = 0;
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uint32_t ticks_zero_high = 0;
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uint32_t ticks_one_high = 0;
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// Always start with the "first" bit
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size_t count = NULL;
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// Select timing based on DShot mode
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switch (_mode)
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// Convert the parsed dshot frame to rmt_tx data
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for (int i = DSHOT_BITS_PER_FRAME - 1; i >= 0; i--)
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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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default:
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ticks_per_bit = 0;
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ticks_zero_high = 0;
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ticks_one_high = 0;
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break;
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}
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uint32_t ticks_zero_low = ticks_per_bit - ticks_zero_high;
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uint32_t ticks_one_low = ticks_per_bit - ticks_one_high;
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// Fill the 16 DShot bits array with selected timings
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for (int i = 15; i >= 0; i--)
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{
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bool bit = (dshot_packet >> i) & 0x1;
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bool bit = (frame_bits >> i) & 0b0000000000000001;
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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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@ -251,12 +225,12 @@ uint16_t DShotRMT::decodeDShotRX(const rmt_symbol_word_t *symbols, uint32_t coun
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// Extract CRC and payload
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uint16_t payload = received_frame >> 4;
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uint8_t crc_received = received_frame & 0xF;
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uint8_t crc_received = received_frame & 0b0000000000001111;
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// Calculate CRC for received frame
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uint8_t crc_calculated = (payload ^ (payload >> 4) ^ (payload >> 8)) & 0xF;
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uint8_t crc_calculated = (payload ^ (payload >> 4) ^ (payload >> 8)) & 0b0000000000001111;
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if (_isBidirectional)
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crc_calculated = (~crc_calculated) & 0xF;
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crc_calculated = (~crc_calculated) & 0b0000000000001111;
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// Check CRC
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if (crc_received != crc_calculated)
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@ -265,8 +239,6 @@ uint16_t DShotRMT::decodeDShotRX(const rmt_symbol_word_t *symbols, uint32_t coun
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return _last_erpm;
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}
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// Remove telemetry bit, keep raw value
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uint16_t raw = payload >> 1;
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return _last_erpm = raw;
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// Remove telemetry bit
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return _last_erpm = payload >> 1;
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}
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88
DShotRMT.h
88
DShotRMT.h
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@ -14,25 +14,16 @@
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#include <driver/rmt_tx.h>
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#include <driver/rmt_rx.h>
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static constexpr bool DSHOT_OK = 0;
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static constexpr bool DSHOT_FAILED = 1;
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// --- DShot Protocol Constants ---
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static constexpr uint16_t DSHOT_THROTTLE_FAILSAVE = 0;
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static constexpr uint16_t DSHOT_THROTTLE_MIN = 48;
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static constexpr uint16_t DSHOT_THROTTLE_MAX = 2047;
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static constexpr uint8_t DSHOT_BITS_PER_FRAME = 16;
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static constexpr uint16_t DSHOT_NULL_PACKET = 0x0000;
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static constexpr uint16_t DSHOT_FULL_PACKET = 0xFFFF;
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static constexpr uint16_t NO_ERPM_SIGNAL = 0;
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// RMT configuration parameters
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static constexpr rmt_clock_source_t DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
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static constexpr uint32_t DSHOT_RMT_RESOLUTION = 10 * 1000 * 1000; // 10 MHz Clock
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static constexpr size_t TX_BUFFER_SIZE = DSHOT_BITS_PER_FRAME;
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static constexpr size_t RX_BUFFER_SIZE = 32; // Padding for RX decoding
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// DShot Packet structure
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typedef struct
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typedef struct dshot_packet_s
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{
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uint16_t throttle_value : 11;
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bool telemetric_request : 1;
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@ -40,7 +31,7 @@ typedef struct
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} dshot_packet_t;
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// --- DShot Mode Selection ---
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typedef enum
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typedef enum dshot_mode_s
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{
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DSHOT_OFF,
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DSHOT150,
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@ -49,12 +40,33 @@ typedef enum
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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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public:
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// Constructor: initializes configuration state
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DShotRMT(gpio_num_t gpio, dshot_mode_t mode = DSHOT300, bool isBidirectional = false, uint8_t pauseDuration = 120);
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DShotRMT(gpio_num_t gpio, dshot_mode_t mode = DSHOT300, bool isBidirectional = false);
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// Initializes the RMT TX and RX channels
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void begin();
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@ -69,33 +81,44 @@ 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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uint8_t getPauseDuration() const { return _pauseDuration; }
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void setPauseDuration(uint8_t pauseDuration) { _pauseDuration = pauseDuration; }
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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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// Calculates the checksum for a DShot packet
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uint16_t calculateCRC(uint16_t dshot_packet);
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static constexpr uint8_t DSHOT_BITS_PER_FRAME = 16;
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static constexpr uint8_t DSHOT_SWITCH_TIME = 42;
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// Assembles DShot packet (11 bit throttle + 1 bit telemetry request + 4 bit CRC)
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uint16_t assambleDShotPaket(uint16_t value);
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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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static constexpr uint16_t NO_ERPM_SIGNAL = 0;
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// RMT configuration parameters
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static constexpr rmt_clock_source_t DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
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static constexpr uint32_t DSHOT_RMT_RESOLUTION = 10 * 1000 * 1000; // 10 MHz Clock
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static constexpr size_t TX_BUFFER_SIZE = DSHOT_BITS_PER_FRAME;
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static constexpr size_t RX_BUFFER_SIZE = 32;
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static constexpr size_t DSHOT_SYMBOLS_SIZE = 64;
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// Calculates the checksum for a DShot packet
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uint16_t calculateCRC(dshot_packet_t dshot_packet);
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// Parses the DShot packet (11 bit throttle + 1 bit telemetry request + 4 bit CRC)
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uint16_t parseDShotPacket(const dshot_packet_t dshot_packet);
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// Converts a 16-bit DShot packet into RMT symbols
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void encodeDShotTX(uint16_t dshot_packet, rmt_symbol_word_t *symbols, size_t &count);
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void encodeDShotTX(dshot_packet_t dshot_packet, rmt_symbol_word_t *symbols);
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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;
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dshot_mode_t _mode;
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bool _isBidirectional;
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uint8_t _pauseDuration;
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// --- DShot Packets Container ---
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uint16_t _lastThrottle = DSHOT_NULL_PACKET;
|
||||
uint16_t _rx_packet = DSHOT_NULL_PACKET;
|
||||
uint16_t _tx_packet = DSHOT_NULL_PACKET;
|
||||
uint8_t _packet_crc = 0;
|
||||
|
||||
// --- RMT Channel Handles ---
|
||||
rmt_channel_handle_t _rmt_rx_channel = nullptr;
|
||||
|
|
@ -112,8 +135,7 @@ private:
|
|||
|
||||
// --- RMT Symbol Buffers ---
|
||||
rmt_symbol_word_t _rx_symbols[RX_BUFFER_SIZE] = {};
|
||||
rmt_symbol_word_t _tx_symbols[TX_BUFFER_SIZE] = {};
|
||||
|
||||
// Stores the last valid eRPM received from the ESC
|
||||
uint16_t _last_erpm = 0;
|
||||
uint16_t _last_erpm = NULL;
|
||||
};
|
||||
|
|
|
|||
|
|
@ -114,7 +114,7 @@ Perfect for DShot:
|
|||
|
||||
## 📝 API Reference
|
||||
|
||||
- `DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool isBidirectional, uint8_t pauseDuration = 120)`
|
||||
- `DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool isBidirectional)`
|
||||
- `void begin()`
|
||||
- `void setThrottle(uint16_t throttle)`
|
||||
- `uint32_t getERPM()`
|
||||
|
|
|
|||
|
|
@ -32,6 +32,7 @@ void printRPMPeriodically(uint16_t throttle);
|
|||
// Reads throttle value from serial input
|
||||
uint16_t readSerialThrottle();
|
||||
|
||||
//
|
||||
void setup()
|
||||
{
|
||||
// Start the USB Serial Port
|
||||
|
|
@ -45,9 +46,10 @@ void setup()
|
|||
|
||||
USB_SERIAL.println("**********************");
|
||||
USB_SERIAL.println("DShotRMT Demo started.");
|
||||
USB_SERIAL.println("Enter a throttle value (48–2047):");
|
||||
USB_SERIAL.println("Enter a throttle value (48 – 2047):");
|
||||
}
|
||||
|
||||
//
|
||||
void loop()
|
||||
{
|
||||
// Read value input from Serial
|
||||
|
|
@ -73,12 +75,10 @@ uint16_t readSerialThrottle()
|
|||
String input = USB_SERIAL.readStringUntil('\n');
|
||||
int throttle_input = input.toInt();
|
||||
|
||||
// Clamp the value to the DShot range
|
||||
throttle_input = constrain(throttle_input, DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX);
|
||||
|
||||
if (throttle_input < DSHOT_THROTTLE_MIN || throttle_input > DSHOT_THROTTLE_MAX)
|
||||
{
|
||||
USB_SERIAL.println("Invalid input. Please enter a value between 48 and 2047.");
|
||||
return last_throttle;
|
||||
}
|
||||
else
|
||||
{
|
||||
|
|
@ -88,7 +88,7 @@ uint16_t readSerialThrottle()
|
|||
}
|
||||
|
||||
USB_SERIAL.println("*********************************");
|
||||
USB_SERIAL.println("Enter a throttle value (48–2047):");
|
||||
USB_SERIAL.println("Enter a throttle value (48 – 2047):");
|
||||
}
|
||||
|
||||
return last_throttle;
|
||||
|
|
@ -98,17 +98,16 @@ uint16_t readSerialThrottle()
|
|||
void printRPMPeriodically(uint16_t throttle)
|
||||
{
|
||||
static unsigned long last_print_time = 0;
|
||||
unsigned long now = millis();
|
||||
|
||||
if (now - last_print_time >= 2000)
|
||||
if (millis() - last_print_time >= 2000)
|
||||
{
|
||||
last_print_time = now;
|
||||
|
||||
uint32_t rpm = motor01.getMotorRPM(MOTOR01_MAGNET_COUNT);
|
||||
|
||||
USB_SERIAL.print("Throttle: ");
|
||||
USB_SERIAL.print(throttle);
|
||||
USB_SERIAL.print(" | RPM: ");
|
||||
USB_SERIAL.println(rpm);
|
||||
|
||||
last_print_time = millis();
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue