From 330d06363a327db5f0e3846f95af59233504c0d8 Mon Sep 17 00:00:00 2001 From: Wastl Kraus Date: Sun, 3 Aug 2025 22:15:38 +0200 Subject: [PATCH] ...adding return values ...prepare for proper debug --- DShotRMT.cpp | 99 +++++++++++++++++++--------------- DShotRMT.h | 9 ++-- examples/dshot300/dshot300.ino | 4 +- 3 files changed, 62 insertions(+), 50 deletions(-) diff --git a/DShotRMT.cpp b/DShotRMT.cpp index 45a7b5f..d7c1970 100644 --- a/DShotRMT.cpp +++ b/DShotRMT.cpp @@ -9,7 +9,8 @@ #include "DShotRMT.h" // --- DShot Timings --- -const dshot_timing_t DSHOT_TIMINGS[] = { +// frame_length_us, ticks_per_bit, ticks_one_high, ticks_zero_high, ticks_zero_low, ticks_one_low +constexpr dshot_timing_t DSHOT_TIMINGS[] = { {0, 0, 0, 0, 0, 0}, // DSHOT_OFF {128, 64, 48, 24, 40, 16}, // DSHOT150 {64, 32, 24, 12, 20, 8}, // DSHOT300 @@ -18,15 +19,16 @@ const dshot_timing_t DSHOT_TIMINGS[] = { }; // -DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional) - : _gpio(gpio), _mode(mode) - , _is_bidirectional(is_bidirectional) - , _timing_config(DSHOT_TIMINGS[mode]) - , _rmt_tx_channel(nullptr) - , _rmt_rx_channel(nullptr) - , _dshot_encoder(nullptr) - , _last_erpm(0) - , _last_transmission_time(0) +DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional): + _gpio(gpio), + _mode(mode), + _is_bidirectional(is_bidirectional), + _timing_config(DSHOT_TIMINGS[mode]), + _rmt_tx_channel(nullptr), + _rmt_rx_channel(nullptr), + _dshot_encoder(nullptr), + _last_erpm(0), + _last_transmission_time(0) { // Calculate frame time including switch time _frame_time_us = _timing_config.frame_length_us + DSHOT_SWITCH_TIME; @@ -38,21 +40,24 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional) } } -// +// Init DShotRMT bool DShotRMT::begin() { + // Init TX Channel if (!_initTXChannel()) { Serial.println("Failed to initialize TX channel"); return DSHOT_ERROR; } + // Init RX Channel if (!_initRXChannel() && _is_bidirectional) { Serial.println("Failed to initialize RX channel"); return DSHOT_ERROR; } + // Init DShot Decoder if (!_initDShotEncoder()) { Serial.println("Failed to initialize encoder"); @@ -77,6 +82,8 @@ bool DShotRMT::setThrottle(uint16_t throttle) { return DSHOT_ERROR; } + + return DSHOT_OK; } // @@ -94,6 +101,7 @@ bool DShotRMT::sendDShotCommand(uint16_t command) { return DSHOT_ERROR; } + return DSHOT_OK; } // @@ -180,28 +188,30 @@ bool DShotRMT::_initDShotEncoder() return rmt_new_copy_encoder(&encoder_config, &_dshot_encoder) == 0; } -// -bool DShotRMT::_sendDShotFrame(const dshot_packet_t &packet) +// Use RMT to transmit a prepared DShot packet and returns it +uint16_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet) { - // - if (!_timer_signal()) - { - return DSHOT_ERROR; - } - // Encodes packet directly into RMT Buffer rmt_symbol_word_t tx_symbols[DSHOT_BITS_PER_FRAME]; _encodeDShotFrame(packet, tx_symbols); + // + if (!_timer_signal()) + { + return DSHOT_NULL_PACKET; + } + // Trigger RMT Transmit if (rmt_transmit(_rmt_tx_channel, _dshot_encoder, tx_symbols, DSHOT_SYMBOLS_SIZE, &_transmit_config) != 0) { Serial.println("Failed to transmit DShot packet"); - return DSHOT_ERROR; + return DSHOT_NULL_PACKET; } + // Time Stamp _timer_reset(); - return DSHOT_OK; + + return _assembleDShotFrame(packet); } // @@ -228,33 +238,32 @@ uint16_t DShotRMT::_assembleDShotFrame(const dshot_packet_t &packet) } // -void DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols) +bool DShotRMT::_encodeDShotFrame(const dshot_packet_t& packet, rmt_symbol_word_t* symbols) { - { - // Encoding to "raw" DShot Packet - uint16_t frame_bits = _assembleDShotFrame(packet); + // Encoding to "raw" DShot Packet + uint16_t frame_bits = _assembleDShotFrame(packet); - // Convert the parsed dshot frame to rmt_tx data - for (int i = 0; i < DSHOT_BITS_PER_FRAME; i++) + // Convert the parsed dshot frame to rmt_tx data + for (int i = 0; i < DSHOT_BITS_PER_FRAME; i++) + { + // Encode RMT symbols bitwise (MSB first) - tricky + bool bit = (frame_bits >> (DSHOT_BITS_PER_FRAME - 1 - i)) & 0b0000000000000001; + if (_is_bidirectional) { - // Encode RMT symbols bitwise (MSB first) - tricky - bool bit = (frame_bits >> (DSHOT_BITS_PER_FRAME - 1 - i)) & 0b0000000000000001; - if (_is_bidirectional) - { - symbols[i].level0 = 0; - symbols[i].duration0 = bit ? _timing_config.ticks_one_high : _timing_config.ticks_zero_high; - symbols[i].level1 = 1; - symbols[i].duration1 = bit ? _timing_config.ticks_one_low : _timing_config.ticks_zero_low; - } - else - { - symbols[i].level0 = 1; - symbols[i].duration0 = bit ? _timing_config.ticks_one_high : _timing_config.ticks_zero_high; - symbols[i].level1 = 0; - symbols[i].duration1 = bit ? _timing_config.ticks_one_low : _timing_config.ticks_zero_low; - } + symbols[i].level0 = 0; + symbols[i].duration0 = bit ? _timing_config.ticks_one_high : _timing_config.ticks_zero_high; + symbols[i].level1 = 1; + symbols[i].duration1 = bit ? _timing_config.ticks_one_low : _timing_config.ticks_zero_low; + } + else + { + symbols[i].level0 = 1; + symbols[i].duration0 = bit ? _timing_config.ticks_one_high : _timing_config.ticks_zero_high; + symbols[i].level1 = 0; + symbols[i].duration1 = bit ? _timing_config.ticks_one_low : _timing_config.ticks_zero_low; } } + return DSHOT_OK; } // @@ -298,7 +307,9 @@ bool DShotRMT::_timer_signal() } // -void DShotRMT::_timer_reset() +bool DShotRMT::_timer_reset() { + // Timestamp update _last_transmission_time = micros(); + return DSHOT_OK; } diff --git a/DShotRMT.h b/DShotRMT.h index f9f10d8..4a79d1a 100644 --- a/DShotRMT.h +++ b/DShotRMT.h @@ -24,7 +24,7 @@ static constexpr uint16_t DSHOT_THROTTLE_MIN = 48; static constexpr uint16_t DSHOT_THROTTLE_MAX = 2047; static constexpr uint8_t DSHOT_BITS_PER_FRAME = 16; -static constexpr uint8_t DSHOT_SWITCH_TIME = 21; +static constexpr uint8_t DSHOT_SWITCH_TIME = 300; // 30us static constexpr uint16_t DSHOT_NULL_PACKET = 0b0000000000000000; // --- RMT Config Constants --- @@ -66,6 +66,7 @@ typedef struct // --- DShot Timing Config --- extern const dshot_timing_t DSHOT_TIMINGS[]; +// class DShotRMT { public: @@ -123,12 +124,12 @@ private: bool _initRXChannel(); bool _initDShotEncoder(); + uint16_t _sendDShotFrame(const dshot_packet_t &packet); uint16_t _calculateCRC(const dshot_packet_t &packet); uint16_t _assembleDShotFrame(const dshot_packet_t &packet); - void _encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols); + bool _encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols); uint16_t _decodeDShotFrame(const rmt_symbol_word_t *symbols, size_t symbol_count); - bool _sendDShotFrame(const dshot_packet_t &packet); bool _timer_signal(); - void _timer_reset(); + bool _timer_reset(); }; diff --git a/examples/dshot300/dshot300.ino b/examples/dshot300/dshot300.ino index a6c38d3..82c816f 100644 --- a/examples/dshot300/dshot300.ino +++ b/examples/dshot300/dshot300.ino @@ -10,11 +10,11 @@ #include // USB serial port settings -static constexpr auto &USB_SERIAL = Serial0; +static constexpr HardwareSerial &USB_SERIAL = Serial0; static constexpr uint32_t USB_SERIAL_BAUD = 115200; // Motor configuration -static constexpr gpio_num_t MOTOR01_PIN = PIN_UART2_RX; +static constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_17; static constexpr dshot_mode_t DSHOT_MODE = DSHOT300; // BiDirectional DShot Support (default: false)