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DShotRMT
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...rename some 

...make the code more easy to read
This commit is contained in:
Wastl Kraus 2025-06-12 12:24:27 +02:00
parent 66482aeadb
commit 33bfb6a0be
3 changed files with 21 additions and 19 deletions
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23
DShotRMT.cpp
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@ -13,7 +13,7 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool isBidirectional)
void DShotRMT::begin() void DShotRMT::begin()
{ {
rmt_tx_channel_config_t tx_config = { rmt_tx_channel_config_t rmt_tx_channel_config = {
.gpio_num = _gpio, .gpio_num = _gpio,
.clk_src = RMT_CLK_SRC_DEFAULT, .clk_src = RMT_CLK_SRC_DEFAULT,
.resolution_hz = DEFAULT_RES_HZ, .resolution_hz = DEFAULT_RES_HZ,
@ -23,8 +23,8 @@ void DShotRMT::begin()
.invert_out = _isBidirectional, .invert_out = _isBidirectional,
.with_dma = false}}; .with_dma = false}};
rmt_new_tx_channel(&tx_config, &_channel); rmt_new_tx_channel(&rmt_tx_channel_config, &_rmt_channel);
rmt_enable(_channel); rmt_enable(_rmt_channel);
// Create encoder only once // Create encoder only once
if (!_encoder) if (!_encoder)
@ -33,19 +33,22 @@ void DShotRMT::begin()
rmt_new_copy_encoder(&enc_cfg, &_encoder); rmt_new_copy_encoder(&enc_cfg, &_encoder);
} }
_tx_config.loop_count = -1; // Infinite loop _transmit_config.loop_count = -1; // Infinite loop
_tx_config.flags.eot_level = 0; _transmit_config.flags.eot_level = 0;
} }
void DShotRMT::setThrottle(uint16_t throttle, bool telemetry) void DShotRMT::setThrottle(uint16_t throttle, bool telemetry)
{ {
// Send only new Throttle values
static uint16_t _lastThrottle = 0;
// Clamp to 11 bits // Clamp to 11 bits
throttle &= 0x07FF; throttle &= 0x07FF;
if (throttle == _lastThrottle && telemetry == _lastTelemetry)
if (throttle == _lastThrottle)
return; return;
_lastThrottle = throttle; _lastThrottle = throttle;
_lastTelemetry = telemetry;
// Build 16-bit DShot packet // Build 16-bit DShot packet
uint16_t packet = (throttle << 1) | (telemetry ? 1 : 0); uint16_t packet = (throttle << 1) | (telemetry ? 1 : 0);
@ -59,10 +62,10 @@ void DShotRMT::setThrottle(uint16_t throttle, bool telemetry)
buildFrameSymbols(packet, symbols, count); buildFrameSymbols(packet, symbols, count);
// Transmit // Transmit
rmt_disable(_channel); // Ensure safe restart rmt_disable(_rmt_channel); // Ensure safe restart
rmt_enable(_channel); rmt_enable(_rmt_channel);
rmt_transmit(_channel, _encoder, symbols, count * sizeof(rmt_symbol_word_t), &_tx_config); rmt_transmit(_rmt_channel, _encoder, symbols, count * sizeof(rmt_symbol_word_t), &_transmit_config);
} }
void DShotRMT::buildFrameSymbols(uint16_t dshot_packet, rmt_symbol_word_t *symbols, size_t &count) void DShotRMT::buildFrameSymbols(uint16_t dshot_packet, rmt_symbol_word_t *symbols, size_t &count)

7
DShotRMT.h
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@ -42,12 +42,9 @@ private:
dshot_mode_t _mode; dshot_mode_t _mode;
bool _isBidirectional; bool _isBidirectional;
rmt_channel_handle_t _channel = nullptr; rmt_channel_handle_t _rmt_channel = nullptr;
rmt_encoder_handle_t _encoder = nullptr; rmt_encoder_handle_t _encoder = nullptr;
rmt_transmit_config_t _tx_config = {}; rmt_transmit_config_t _transmit_config = {};
uint16_t _lastThrottle = 0;
bool _lastTelemetry = false;
void buildFrameSymbols(uint16_t frame, rmt_symbol_word_t *symbols, size_t &count); void buildFrameSymbols(uint16_t frame, rmt_symbol_word_t *symbols, size_t &count);
}; };

10
examples/dshot300/dshot300.ino
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@ -10,12 +10,12 @@
#include <DShotRMT.h> #include <DShotRMT.h>
// USB serial port settings // USB serial port settings
#define USB_Serial Serial #define USB_Serial Serial0
const uint32_t USB_SERIAL_BAUD = 115200; constexpr auto USB_SERIAL_BAUD = 115200;
// Motor configuration // Motor configuration
const gpio_num_t MOTOR01_PIN = GPIO_NUM_17; constexpr auto MOTOR01_PIN = GPIO_NUM_17;
const dshot_mode_t DSHOT_MODE = DSHOT300; constexpr auto DSHOT_MODE = DSHOT300;
// Create DShotRMT instance // Create DShotRMT instance
DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE); DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE);
@ -48,6 +48,7 @@ void loop()
// Reads throttle value from serial input // Reads throttle value from serial input
int readSerialThrottle() int readSerialThrottle()
{ {
//
static int last_throttle = DSHOT_THROTTLE_MIN; static int last_throttle = DSHOT_THROTTLE_MIN;
if (USB_Serial.available() > 0) if (USB_Serial.available() > 0)
@ -64,5 +65,6 @@ int readSerialThrottle()
USB_Serial.println("Enter a throttle value (48–2047):"); USB_Serial.println("Enter a throttle value (48–2047):");
} }
return last_throttle; return last_throttle;
} }