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This commit is contained in:
Wastl Kraus 2023-03-26 17:58:24 +02:00
parent 992a3e9fe6
commit 3366d2f775
3 changed files with 26 additions and 15 deletions
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6
DShotRMT.code-workspace
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@ -4,5 +4,9 @@
"path": "." "path": "."
} }
], ],
"settings": {} "settings": {
"files.associations": {
"string": "cpp"
}
}
} }

2
examples/dshot300/dshot300.ino
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@ -9,7 +9,7 @@
constexpr auto USB_SERIAL_BAUD = 115200; constexpr auto USB_SERIAL_BAUD = 115200;
#endif // SERIAL #endif // SERIAL
DShotRMT motor01(GPIO_NUM_4, RMT_CHANNEL_0, DSHOT300, false); DShotRMT motor01(GPIO_NUM_4, RMT_CHANNEL_0);
volatile uint16_t throttle_value = 0x30; // ...sending "48", the first throttle value volatile uint16_t throttle_value = 0x30; // ...sending "48", the first throttle value
constexpr auto FAILSAVE_THROTTLE = 0x3E7; constexpr auto FAILSAVE_THROTTLE = 0x3E7;

33
src/DShotRMT.h
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@ -8,26 +8,31 @@
#include <Arduino.h> #include <Arduino.h>
// ...utilizing the RMT Module library for generating the DShot signal // Use the RMT Module library for generating the DShot signal
#include <driver/rmt.h> #include <driver/rmt.h>
// ...unify versioning // Define library version
constexpr auto DSHOT_LIB_VERSION = "0.2.3"; constexpr auto DSHOT_LIB_VERSION = "0.2.3";
constexpr auto DSHOT_CLK_DIVIDER = 8; // ...slow down RMT clock to 0.1 microseconds / 100 nanoseconds per cycle // Define constants for generating the DShot signal
constexpr auto DSHOT_PACKET_LENGTH = 17; // ...last pack is the pause constexpr auto DSHOT_CLK_DIVIDER = 8; // Slow down RMT clock to 0.1 microseconds / 100 nanoseconds per cycle
constexpr auto DSHOT_PACKET_LENGTH = 17; // Last pack is the pause
// Define constants for DShot throttle range and null packet
constexpr auto DSHOT_THROTTLE_MIN = 48; constexpr auto DSHOT_THROTTLE_MIN = 48;
constexpr auto DSHOT_THROTTLE_MAX = 2047; constexpr auto DSHOT_THROTTLE_MAX = 2047;
constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000; constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000;
constexpr auto DSHOT_PAUSE = 21; // ...21bit is recommended, but to be sure // Define constants for DShot pause
constexpr auto DSHOT_PAUSE = 21; // 21bit is recommended, but to be sure
constexpr auto DSHOT_PAUSE_BIT = 16; constexpr auto DSHOT_PAUSE_BIT = 16;
// Define constants for RMT timing
constexpr auto F_CPU_RMT = APB_CLK_FREQ; constexpr auto F_CPU_RMT = APB_CLK_FREQ;
constexpr auto RMT_CYCLES_PER_SEC = (F_CPU_RMT / DSHOT_CLK_DIVIDER); constexpr auto RMT_CYCLES_PER_SEC = (F_CPU_RMT / DSHOT_CLK_DIVIDER);
constexpr auto RMT_CYCLES_PER_ESP_CYCLE = (F_CPU / RMT_CYCLES_PER_SEC); constexpr auto RMT_CYCLES_PER_ESP_CYCLE = (F_CPU / RMT_CYCLES_PER_SEC);
// Define enumeration for DShot mode
typedef enum dshot_mode_e typedef enum dshot_mode_e
{ {
DSHOT_OFF, DSHOT_OFF,
@ -37,23 +42,24 @@ typedef enum dshot_mode_e
DSHOT1200 DSHOT1200
} dshot_mode_t; } dshot_mode_t;
// ...to get human readable DShot Mode // Define human-readable names for DShot modes
static const char *const dshot_mode_name[] = { static const char *const dshot_mode_name[] = {
"DSHOT_OFF", "DSHOT_OFF",
"DSHOT150", "DSHOT150",
"DSHOT300", "DSHOT300",
"DSHOT600", "DSHOT600",
"DSHOT1200"}; "DSHOT1200"
};
// Define type aliases for DShot name and telemetry request
typedef String dshot_name_t; typedef String dshot_name_t;
typedef enum telemetric_request_e typedef enum telemetric_request_e
{ {
NO_TELEMETRIC, NO_TELEMETRIC,
ENABLE_TELEMETRIC, ENABLE_TELEMETRIC,
} telemetric_request_t; } telemetric_request_t;
// ...set bitcount for DShot packet // Define structure for DShot packet
typedef struct dshot_packet_s typedef struct dshot_packet_s
{ {
uint16_t throttle_value : 11; uint16_t throttle_value : 11;
@ -61,14 +67,14 @@ typedef struct dshot_packet_s
uint16_t checksum : 4; uint16_t checksum : 4;
} dshot_packet_t; } dshot_packet_t;
// ...set bitcount for eRPM packet // Define structure for eRPM packet
typedef struct eRPM_packet_s typedef struct eRPM_packet_s
{ {
uint16_t eRPM_data : 12; uint16_t eRPM_data : 12;
uint8_t checksum : 4; uint8_t checksum : 4;
} eRPM_packet_t; } eRPM_packet_t;
// ...all settings for the dshot mode // Define structure for DShot configuration
typedef struct dshot_config_s typedef struct dshot_config_s
{ {
dshot_mode_t mode; dshot_mode_t mode;
@ -86,11 +92,12 @@ typedef struct dshot_config_s
uint16_t ticks_one_low; uint16_t ticks_one_low;
} dshot_config_t; } dshot_config_t;
// Define class for DShot generation using RMT
class DShotRMT class DShotRMT
{ {
public: public:
DShotRMT(gpio_num_t gpio, rmt_channel_t rmtChannel, dshot_mode_t dshot_mode, bool is_bidirectional); DShotRMT(gpio_num_t gpio, rmt_channel_t rmtChannel, dshot_mode_t dshot_mode = DSHOT300, bool is_bidirectional = false);
DShotRMT(uint8_t pin, uint8_t channel, dshot_mode_t dshot_mode, bool is_bidirectional); DShotRMT(uint8_t pin, uint8_t channel, dshot_mode_t dshot_mode = DSHOT300, bool is_bidirectional = false);
~DShotRMT(); ~DShotRMT();
DShotRMT(DShotRMT const &); DShotRMT(DShotRMT const &);