From b1312cec20ced82e4bd055d22f130ca164f8de3f Mon Sep 17 00:00:00 2001 From: Wastl Kraus Date: Sat, 19 Jul 2025 13:26:54 +0200 Subject: [PATCH] ...Pause duration configuration ...add getter and setter for frame pause duration, further cleaning --- .github/workflows/esp32.yml | 2 +- DShotRMT.cpp | 89 ++++++++++++++++++++-------------- DShotRMT.h | 36 ++++++++------ README.md | 6 +-- examples/dshot300/dshot300.ino | 70 ++++++++++++++++---------- library.properties | 2 +- 6 files changed, 124 insertions(+), 81 deletions(-) diff --git a/.github/workflows/esp32.yml b/.github/workflows/esp32.yml index fcca943..07b482b 100644 --- a/.github/workflows/esp32.yml +++ b/.github/workflows/esp32.yml @@ -1,4 +1,4 @@ -name: Arduino CI +name: DShotRMT Example Sketch on: push: diff --git a/DShotRMT.cpp b/DShotRMT.cpp index 16a862d..d51f38f 100644 --- a/DShotRMT.cpp +++ b/DShotRMT.cpp @@ -11,28 +11,12 @@ // --- DShotRMT Class --- // This class provides an abstraction for sending and optionally receiving DShot frames. // It uses ESP32's RMT peripheral for precise timing control, including BiDirectional RX. -DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool isBidirectional) - : _gpio(gpio), _mode(mode), _isBidirectional(isBidirectional) {} +DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool isBidirectional, uint8_t pauseDuration) + : _gpio(gpio), _mode(mode), _isBidirectional(isBidirectional), _pauseDuration(pauseDuration) {} // Sets up RMT TX and RX channels as well as encoder configuration void DShotRMT::begin() { - // TX RMT Channel Configuration - _rmt_tx_channel_config = { - .gpio_num = _gpio, - .clk_src = DSHOT_CLOCK_SRC_DEFAULT, - .resolution_hz = DSHOT_RMT_RESOLUTION, - .mem_block_symbols = 64, - .trans_queue_depth = 2, - // .flags = { - // invert Signal if BiDirectional DShot Mode - // .invert_out = _isBidirectional, - // .with_dma = false} - }; - - rmt_new_tx_channel(&_rmt_tx_channel_config, &_rmt_tx_channel); - rmt_enable(_rmt_tx_channel); - // RX RMT Channel Configuration (for BiDirectional DShot) if (_isBidirectional) { @@ -41,28 +25,57 @@ void DShotRMT::begin() .clk_src = DSHOT_CLOCK_SRC_DEFAULT, .resolution_hz = DSHOT_RMT_RESOLUTION, .mem_block_symbols = 64, - // .flags = { - // .invert_in = false, - // .with_dma = false} }; - rmt_new_rx_channel(&_rmt_rx_channel_config, &_rmt_rx_channel); - rmt_enable(_rmt_rx_channel); + if (rmt_new_rx_channel(&_rmt_rx_channel_config, &_rmt_rx_channel) != 0) + { + Serial.println("Failed to create RX channel"); + return; + } + if (rmt_enable(_rmt_rx_channel) != 0) + { + Serial.println("Failed to enable RX channel"); + return; + } _receive_config.signal_range_min_ns = 300; _receive_config.signal_range_max_ns = 5000; } + // TX RMT Channel Configuration + _rmt_tx_channel_config = { + .gpio_num = _gpio, + .clk_src = DSHOT_CLOCK_SRC_DEFAULT, + .resolution_hz = DSHOT_RMT_RESOLUTION, + .mem_block_symbols = 64, + .trans_queue_depth = 10, + }; + + // Configure transmission looping + _transmit_config.loop_count = 0; + _transmit_config.flags.eot_level = _isBidirectional; + + if (rmt_new_tx_channel(&_rmt_tx_channel_config, &_rmt_tx_channel) != 0) + { + Serial.println("Failed to create TX channel"); + return; + } + if (rmt_enable(_rmt_tx_channel) != 0) + { + Serial.println("Failed to enable TX channel"); + return; + } + // Use a copy encoder to send raw symbols if (!_dshot_encoder) { rmt_copy_encoder_config_t enc_cfg = {}; - rmt_new_copy_encoder(&enc_cfg, &_dshot_encoder); + if (rmt_new_copy_encoder(&enc_cfg, &_dshot_encoder) != 0) + { + Serial.println("Failed to create copy encoder"); + return; + } } - - // Configure transmission looping - _transmit_config.loop_count = 0; - _transmit_config.flags.eot_level = _isBidirectional; } // Encodes and transmits a valid DShot Throttle value (48 - 2047) @@ -81,10 +94,14 @@ void DShotRMT::setThrottle(uint16_t throttle) encodeDShotTX(_tx_packet, _tx_symbols, count); // Send the packet - rmt_transmit(_rmt_tx_channel, _dshot_encoder, _tx_symbols, count * sizeof(rmt_symbol_word_t), &_transmit_config); + if (rmt_transmit(_rmt_tx_channel, _dshot_encoder, _tx_symbols, count * sizeof(rmt_symbol_word_t), &_transmit_config) != 0) + { + Serial.println("Failed to transmit DShot packet"); + return; + } // Take a break - esp_rom_delay_us(120); + esp_rom_delay_us(_pauseDuration); } // --- Get eRPM from ESC --- @@ -100,7 +117,6 @@ uint32_t DShotRMT::getERPM() if (!rmt_receive(_rmt_rx_channel, _rx_symbols, sizeof(_rx_symbols), &_receive_config)) return _last_erpm; - // _last_erpm = decodeDShotRX(_rx_symbols, DSHOT_BITS_PER_FRAME); return _last_erpm; } @@ -204,7 +220,7 @@ void DShotRMT::encodeDShotTX(uint16_t dshot_packet, rmt_symbol_word_t *symbols, // Fill the 16 DShot-Bits Array with selected timings for (int i = 15; i >= 0; i--) { - bool bit = (dshot_packet >> i) & 0x01; + bool bit = (dshot_packet >> i) & 0b0000000000000001; if (_isBidirectional) { symbols[count].level0 = 0; @@ -236,20 +252,21 @@ uint16_t DShotRMT::decodeDShotRX(const rmt_symbol_word_t *symbols, uint32_t coun _rec_frame = (_rec_frame << 1) | bit; } - // Store the received CRC for checking + // Cut the received CRC for checking uint16_t _temp = _rec_frame >> 4; - // Masking the received CRC - uint8_t crc_recv = _rec_frame & 0x0F; + // Store the received CRC + uint8_t crc_recv = _rec_frame & 0b0000000000001111; // Calculate CRC for received frame again uint8_t crc_calc = (_temp ^ (_temp >> 4) ^ (_temp >> 8)) & 0b0000000000001111; if (_isBidirectional) - crc_calc = (~crc_calc) & 0x0F; + crc_calc = (~crc_calc) & 0b0000000000001111; // Checking CRC if (crc_recv != crc_calc) + Serial.println("RX - CRC check failed."); return _last_erpm; // Cut "telemetric" bit leaving "raw" value diff --git a/DShotRMT.h b/DShotRMT.h index da2cf65..1d7b0af 100644 --- a/DShotRMT.h +++ b/DShotRMT.h @@ -15,13 +15,10 @@ #include // --- DShot Protocol Constants --- -// Constants to define timing and encoding rules for DShot Protocol static constexpr auto DSHOT_THROTTLE_FAILSAVE = 0; static constexpr auto DSHOT_THROTTLE_MIN = 48; static constexpr auto DSHOT_THROTTLE_MAX = 2047; static constexpr auto DSHOT_BITS_PER_FRAME = 16; -static constexpr auto PAUSE_BITS = 21; -static constexpr auto SWITCH_PAUSE = 4; static constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000; static constexpr auto DSHOT_FULL_PACKET = 0b1111111111111111; @@ -34,8 +31,15 @@ static constexpr auto DSHOT_RMT_RESOLUTION = 10 * 1000 * 1000; // 10 MHz Clock static constexpr auto TX_BUFFER_SIZE = DSHOT_BITS_PER_FRAME; static constexpr auto RX_BUFFER_SIZE = 32; // Padding for RX decoding +// DShot Packet +typedef struct dshot_packet_s +{ + uint16_t throttle_value : 11; + bool telemetric_request : 1; + uint16_t checksum : 4; +} dshot_packet_t; + // --- DShot Mode Selection --- -// Select the appropriate bit timing for the protocol typedef enum dshot_mode_e { DSHOT_OFF, @@ -46,13 +50,11 @@ typedef enum dshot_mode_e } dshot_mode_t; // --- DShotRMT Class --- -// This class provides an abstraction for sending and optionally receiving DShot frames. -// It uses ESP32's RMT peripheral for precise timing control, including BiDirectional RX. class DShotRMT { public: // Constructor: initializes configuration state - DShotRMT(gpio_num_t gpio, dshot_mode_t mode = DSHOT300, bool isBidirectional = false); + DShotRMT(gpio_num_t gpio, dshot_mode_t mode = DSHOT300, bool isBidirectional = false, uint8_t pauseDuration = 120); // Initializes the RMT TX and RX channels void begin(); @@ -63,16 +65,18 @@ public: // Receives and decodes the latest value from ESC, if available uint32_t getERPM(); uint32_t getMotorRPM(uint8_t magnet_count); - - // Accessors for GPIO and DShot mode + + // Accessors for GPIO and DShot Settings gpio_num_t getGPIO() const { return _gpio; } dshot_mode_t getDShotMode() const { return _mode; } + uint8_t getPauseDuration() const { return _pauseDuration; } + void setPauseDuration(uint8_t pauseDuration) { _pauseDuration = pauseDuration; } private: - // Calculate the checksum for throttle value + // Calculates the checksum for throttle value uint16_t calculateCRC(uint16_t dshot_packet); - // Assamble DShot Paket (10 bit throttle + 1 bit telemetry request + 4 bit crc) + // Assembles DShot packet (11 bit throttle + 1 bit telemetry request + 4 bit crc) uint16_t assambleDShotPaket(uint16_t value); // Converts a 16-bit DShot packet into RMT symbols and appends pause @@ -81,18 +85,20 @@ private: // Decodes the ESC answer uint16_t decodeDShotRX(const rmt_symbol_word_t *symbols, uint32_t count); - // --- Configuration Parameter --- + // --- Configuration Parameters --- gpio_num_t _gpio; dshot_mode_t _mode; bool _isBidirectional; + uint8_t _pauseDuration; // --- DShot Packets Container --- uint16_t _lastThrottle = DSHOT_NULL_PACKET; - uint16_t _received_packet = DSHOT_NULL_PACKET; + uint16_t _rx_packet = DSHOT_NULL_PACKET; uint16_t _tx_packet = DSHOT_NULL_PACKET; uint8_t _packet_crc = 0; + dshot_packet_t _dshot_packet = {}; - // --- RMT Channel --- + // --- RMT Channel Handles --- rmt_channel_handle_t _rmt_rx_channel = nullptr; rmt_channel_handle_t _rmt_tx_channel = nullptr; rmt_rx_channel_config_t _rmt_rx_channel_config = {}; @@ -105,7 +111,7 @@ private: rmt_receive_config_t _receive_config = {}; rmt_transmit_config_t _transmit_config = {}; - // --- RMT Symbol Buffer --- + // --- RMT Symbol Buffers --- rmt_symbol_word_t _rx_symbols[RX_BUFFER_SIZE] = {}; rmt_symbol_word_t _tx_symbols[TX_BUFFER_SIZE] = {}; diff --git a/README.md b/README.md index 3504546..fa1c7d4 100644 --- a/README.md +++ b/README.md @@ -2,8 +2,8 @@ ## DShotRMT - ESP32 Library (Rewrite for ESP-IDF 5) -This is a complete rewrite of the original DShotRMT library to support the new ESP-IDF 5 RMT encoder API (`rmt_tx.h`). -The library sends continuous DShot frames with a configurable pause between them and supports all standard DShot modes (150, 300, 600). +This is a complete rewrite of the original DShotRMT library to support the new ESP-IDF 5 RMT encoder API (`rmt_tx.h` / `rmt_rx.h`). +The library sends continuous DShot frames with a pause between them and supports all standard DShot modes (150, 300, 600). ### Now with BiDirectional DShot Support!!! @@ -27,7 +27,7 @@ Data is transmitted MSB-first. Pulse timing depends on the selected DShot mode. | 300 | 300 kbit/s | 2.50 | 1.25 | 3.33 | ~53.28 | | 600 | 600 kbit/s | 1.25 | 0.625 | 1.67 | ~26.72 | -Each frame is followed by a 21-bit time pause. This helps ESCs detect separate frames. +Each frame is followed by a pause. This helps ESCs detect separate frames. ![DShotRMT](https://raw.githubusercontent.com/derdoktor667/DShotRMT/refs/heads/main/img/dshot300.png) diff --git a/examples/dshot300/dshot300.ino b/examples/dshot300/dshot300.ino index 40e2374..77f2d78 100644 --- a/examples/dshot300/dshot300.ino +++ b/examples/dshot300/dshot300.ino @@ -26,6 +26,13 @@ constexpr auto MOTOR01_MAGNET_COUNT = 14; // Setup Motor Pin, DShot Mode and optional BiDirectional Support DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE, IS_BIDIRECTIONAL); +// Prints RPM and throttle every 2 seconds if BiDirectional is enabled +void printRPMPeriodically(uint16_t throttle); + +// Reads throttle value from serial input +uint16_t readSerialThrottle(); + +// void setup() { // Start the USB Serial Port @@ -37,45 +44,31 @@ void setup() // Arm ESC with minimum throttle motor01.setThrottle(DSHOT_THROTTLE_MIN); - // USB_SERIAL.println("**********************"); USB_SERIAL.println("DShotRMT Demo started."); USB_SERIAL.println("Enter a throttle value (48–2047):"); } +// void loop() { // Read value input from Serial - int throttle_input = readSerialThrottle(); + uint16_t throttle_input = readSerialThrottle(); - // Now send the value + // Send the value to the ESC motor01.setThrottle(throttle_input); - // BiDirectional DShot: print out the received eRPMs every 2 seconds + // Print RPM if BiDirectional DShot is enabled if (IS_BIDIRECTIONAL) { - static unsigned long last_print_time = 0; - unsigned long now = millis(); - - if (now - last_print_time >= 2000) - { - last_print_time = now; - - uint32_t rpm = motor01.getMotorRPM(MOTOR01_MAGNET_COUNT); - - USB_SERIAL.print("Throttle: "); - USB_SERIAL.print(throttle_input); - USB_SERIAL.print(" | RPM: "); - USB_SERIAL.println(rpm); - } + printRPMPeriodically(throttle_input); } } // Reads throttle value from serial input -int readSerialThrottle() +uint16_t readSerialThrottle() { - // - static int last_throttle = DSHOT_THROTTLE_MIN; + static uint16_t last_throttle = DSHOT_THROTTLE_MIN; if (USB_SERIAL.available() > 0) { @@ -84,13 +77,40 @@ int readSerialThrottle() // Clamp the value to the DShot range throttle_input = constrain(throttle_input, DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX); - last_throttle = throttle_input; - USB_SERIAL.print("Throttle set to: "); - USB_SERIAL.println(last_throttle); - USB_SERIAL.println("***********************************"); + if (throttle_input < DSHOT_THROTTLE_MIN || throttle_input > DSHOT_THROTTLE_MAX) + { + USB_SERIAL.println("Invalid input. Please enter a value between 48 and 2047"); + } + else + { + last_throttle = throttle_input; + USB_SERIAL.print("Throttle set to: "); + USB_SERIAL.println(last_throttle); + } + + USB_SERIAL.println("*********************************"); USB_SERIAL.println("Enter a throttle value (48–2047):"); } return last_throttle; } + +// Prints RPM and throttle every 2 seconds +void printRPMPeriodically(uint16_t throttle) +{ + static unsigned long last_print_time = 0; + unsigned long now = millis(); + + if (now - 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); + } +} diff --git a/library.properties b/library.properties index 46be3b7..4238997 100644 --- a/library.properties +++ b/library.properties @@ -1,5 +1,5 @@ name=DShotRMT -version=0.4.0 +version=0.5.0 author=derdoktor667 maintainer=derdoktor667 sentence=DShotRMT Library supporting all DShot Types and speeds. Tested with BlHeli_S.