...simplify
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Wastl Kraus
parent
3a80bdef75
commit
2f59227788
82
DShotRMT.cpp
82
DShotRMT.cpp
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@ -58,7 +58,7 @@ 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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@ -66,6 +66,7 @@ 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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@ -74,8 +75,6 @@ void DShotRMT::begin()
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_receive_config.signal_range_min_ns = 300;
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_receive_config.signal_range_max_ns = 5000;
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_dshot_packet.telemetric_request = _isBidirectional;
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}
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// Configure TX RMT Channel
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@ -83,9 +82,8 @@ 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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@ -96,6 +94,7 @@ 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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@ -120,21 +119,22 @@ void DShotRMT::setThrottle(uint16_t throttle)
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// Simple timer
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static unsigned long last_time = NULL;
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//
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dshot_packet_t packet = {};
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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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// 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 >= _frameLength)
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{
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// Clamp input range for throttle value
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_dshot_packet.throttle_value = constrain(throttle, DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX) & 0b0000011111111111;
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// Calculate CRC for every throttle value
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calculateCRC(&_dshot_packet);
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// Encode RMT symbols
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size_t count = NULL;
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encodeDShotTX(&_dshot_packet, _tx_symbols, count);
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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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@ -157,7 +157,7 @@ uint32_t DShotRMT::getERPM()
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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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@ -182,38 +182,33 @@ 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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void DShotRMT::calculateCRC(dshot_packet_t *dshot_packet)
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uint16_t DShotRMT::calculateCRC(dshot_packet_t dshot_packet)
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{
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_parsed_dshot_tx_packet = (dshot_packet->throttle_value << 1) | (dshot_packet->telemetric_request);
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// Reset CRC container
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dshot_packet->checksum = 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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dshot_packet->checksum = ((_parsed_dshot_tx_packet ^ (_parsed_dshot_tx_packet >> 4) ^ (_parsed_dshot_tx_packet >> 8)) & 0b0000000000001111);
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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 (dshot_packet->telemetric_request)
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dshot_packet->checksum = (~dshot_packet->checksum) & 0b0000000000001111;
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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 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::parseDShotPacket(const dshot_packet_t *dshot_packet)
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uint16_t DShotRMT::parseDShotPacket(const dshot_packet_t dshot_packet)
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{
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_parsed_dshot_tx_packet = ((dshot_packet->throttle_value << 1) | (dshot_packet->telemetric_request)) & 0b0000111111111111;
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return ((_parsed_dshot_tx_packet << 4) | (dshot_packet->checksum)) & 0b1111111111111111;
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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(dshot_packet_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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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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uint16_t ticks_per_bit = 0;
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uint16_t ticks_zero_high = 0;
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uint16_t ticks_one_high = 0;
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// Select timing based on DShot mode
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switch (_mode)
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@ -242,13 +237,18 @@ void DShotRMT::encodeDShotTX(dshot_packet_t *dshot_packet, rmt_symbol_word_t *sy
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return;
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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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uint16_t ticks_zero_low = ticks_per_bit - ticks_zero_high;
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uint16_t ticks_one_low = ticks_per_bit - ticks_one_high;
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uint16_t frame_bits = parseDShotPacket(dshot_packet);
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// Always start with the "first" bit
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size_t count = NULL;
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// Convert the parsed dshot frame to rmt_tx data
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for (int i = 15; i >= 0; i--)
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for (int i = DSHOT_BITS_PER_FRAME - 1; i >= 0; i--)
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{
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bool bit = (frame_bits >> 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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46
DShotRMT.h
46
DShotRMT.h
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@ -14,30 +14,20 @@
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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 uint8_t DSHOT_SWITCH_TIME = 21;
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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 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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uint8_t checksum : 4;
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uint16_t checksum : 4;
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} dshot_packet_t;
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// --- DShot Mode Selection ---
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@ -47,7 +37,8 @@ typedef enum dshot_mode_s
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DSHOT150,
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DSHOT300,
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DSHOT600,
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DSHOT1200
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DSHOT1200,
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COUNTER
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} dshot_mode_t;
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// --- DShotRMT Class ---
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@ -71,17 +62,31 @@ public:
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gpio_num_t getGPIO() const { return _gpio; }
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dshot_mode_t getDShotMode() const { return _mode; }
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uint16_t getFrameLenght() const { return _frameLength; }
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uint16_t getDShotPacket() const { return _parsed_dshot_tx_packet; }
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private:
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static constexpr uint8_t DSHOT_BITS_PER_FRAME = 16;
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static constexpr uint8_t DSHOT_SWITCH_TIME = 21;
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static constexpr 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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void calculateCRC(dshot_packet_t *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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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(dshot_packet_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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@ -94,8 +99,6 @@ private:
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// --- DShot Packets Container ---
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uint16_t _rx_packet = DSHOT_NULL_PACKET;
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uint16_t _parsed_dshot_tx_packet = DSHOT_NULL_PACKET;
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dshot_packet_t _dshot_packet = {};
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// --- RMT Channel Handles ---
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rmt_channel_handle_t _rmt_rx_channel = nullptr;
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@ -112,7 +115,6 @@ private:
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// --- RMT Symbol Buffers ---
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rmt_symbol_word_t _rx_symbols[RX_BUFFER_SIZE] = {};
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rmt_symbol_word_t _tx_symbols[TX_BUFFER_SIZE] = {};
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// Stores the last valid eRPM received from the ESC
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uint16_t _last_erpm = NULL;
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@ -73,12 +73,10 @@ uint16_t readSerialThrottle()
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String input = USB_SERIAL.readStringUntil('\n');
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int throttle_input = input.toInt();
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// Clamp the value to the DShot range
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throttle_input = constrain(throttle_input, DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX);
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if (throttle_input < DSHOT_THROTTLE_MIN || throttle_input > DSHOT_THROTTLE_MAX)
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{
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USB_SERIAL.println("Invalid input. Please enter a value between 48 and 2047.");
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return last_throttle;
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}
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else
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{
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