...update callback
...performance optimized by direct rmt symbol processing - no queue
This commit is contained in:
Wastl Kraus
parent
7c87661c0a
commit
44e5a5cffe
142
DShotRMT.cpp
142
DShotRMT.cpp
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@ -53,8 +53,11 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional)
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: _gpio(gpio),
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_mode(mode),
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_is_bidirectional(is_bidirectional),
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_last_erpm_atomic(0),
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_telemetry_ready_flag(false),
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_frame_timer_us(0),
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_timing_config(DSHOT_TIMINGS[mode]),
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_last_throttle(DSHOT_CMD_MOTOR_STOP),
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_last_transmission_time(0),
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_parsed_packet(0),
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_packet{0},
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@ -67,8 +70,7 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional)
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_tx_channel_config{},
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_rx_channel_config{},
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_transmit_config{},
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_receive_config{},
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_rx_queue(nullptr)
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_receive_config{}
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{
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// Calculate frame timing including switch/pause time
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_frame_timer_us = _timing_config.frame_length_us + DSHOT_SWITCH_TIME;
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@ -116,13 +118,6 @@ DShotRMT::~DShotRMT()
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rmt_del_encoder(_dshot_encoder);
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_dshot_encoder = nullptr;
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}
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// ...Buffer
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if (_rx_queue)
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{
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vQueueDelete(_rx_queue);
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_rx_queue = nullptr;
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}
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}
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// Init DShotRMT
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@ -188,7 +183,7 @@ dshot_result_t DShotRMT::_initTXChannel()
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}
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//
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if (rmt_enable(_rmt_tx_channel) != 0)
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if (rmt_enable(_rmt_tx_channel) != DSHOT_OK)
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{
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return result;
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}
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@ -205,13 +200,8 @@ dshot_result_t DShotRMT::_initRXChannel()
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// Result container
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dshot_result_t result = {false, RX_INIT_FAILED};
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// Create a queue for RX callback data
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_rx_queue = xQueueCreate(RMT_QUEUE_DEPTH, sizeof(rmt_rx_done_event_data_t));
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if (_rx_queue == nullptr)
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{
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result.msg = RX_BUFFER_FAILED;
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return result;
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}
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// Direct RMT symbol processing - Performance optimized
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_rx_event_callbacks.on_recv_done = _rmt_rx_done_callback;
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// Config RMT RX
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_rx_channel_config.gpio_num = _gpio;
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@ -229,17 +219,8 @@ dshot_result_t DShotRMT::_initRXChannel()
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return result;
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}
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// Register RX callback
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_rx_event_callbacks.on_recv_done = _rmt_rx_done_callback;
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if (rmt_rx_register_event_callbacks(_rmt_rx_channel, &_rx_event_callbacks, _rx_queue) != DSHOT_OK)
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{
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result.msg = RX_BUFFER_FAILED;
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return result;
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}
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//
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if (rmt_enable(_rmt_rx_channel) != 0)
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if (rmt_enable(_rmt_rx_channel) != DSHOT_OK)
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{
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return result;
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}
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@ -253,14 +234,25 @@ dshot_result_t DShotRMT::_initRXChannel()
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// Callback for RMT RX
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bool IRAM_ATTR DShotRMT::_rmt_rx_done_callback(rmt_channel_handle_t rmt_rx_channel, const rmt_rx_done_event_data_t *edata, void *user_data)
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{
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// Init RX buffer
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QueueHandle_t rx_buffer = (QueueHandle_t)user_data;
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BaseType_t xHigherPriorityTaskWoken = pdFALSE;
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DShotRMT *instance = static_cast<DShotRMT *>(user_data);
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// Copy callback data into RX buffer
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xQueueGenericSendFromISR(rx_buffer, edata, &xHigherPriorityTaskWoken, queueSEND_TO_BACK);
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// Minimale ISR-Verarbeitung: Nur bei gültigen Daten
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if (edata && edata->num_symbols >= GCR_BITS_PER_FRAME &&
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edata->num_symbols <= GCR_BITS_PER_FRAME)
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{
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return (xHigherPriorityTaskWoken == pdTRUE);
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// Direkte Dekodierung in der ISR (schnell!)
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uint16_t erpm = instance->_decodeDShotFrame(edata->received_symbols);
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if (erpm != DSHOT_NULL_PACKET)
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{
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// Atomic writes - thread-safe ohne Mutex
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instance->_last_erpm_atomic = erpm;
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instance->_telemetry_ready_flag = true;
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}
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}
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return false;
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}
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// Initialize DShot encoder
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@ -290,8 +282,6 @@ dshot_result_t DShotRMT::sendThrottle(uint16_t throttle)
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// Result container
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dshot_result_t result = {false, UNKNOWN_ERROR};
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static uint16_t last_throttle = DSHOT_CMD_MOTOR_STOP;
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// Special case: if throttle is 0, use sendCommand() instead
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if (throttle == 0)
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{
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@ -299,13 +289,13 @@ dshot_result_t DShotRMT::sendThrottle(uint16_t throttle)
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}
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// Log only if throttle is out of range and different from last time
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if ((throttle < DSHOT_THROTTLE_MIN || throttle > DSHOT_THROTTLE_MAX) && throttle != last_throttle)
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if ((throttle < DSHOT_THROTTLE_MIN || throttle > DSHOT_THROTTLE_MAX) && throttle != _last_throttle)
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{
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result.msg = THROTTLE_NOT_IN_RANGE;
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}
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// Always store the original throttle value
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last_throttle = throttle;
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_last_throttle = throttle;
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// Constrain throttle for transmission and send
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uint16_t new_throttle = constrain(throttle, DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX);
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@ -346,60 +336,25 @@ dshot_telemetry_result_t DShotRMT::getTelemetry(uint16_t magnet_count)
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return result;
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}
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// Get eRPM
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uint16_t erpm = _getERPM();
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if (erpm == DSHOT_NULL_PACKET)
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if (_telemetry_ready_flag)
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{
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return result;
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}
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_telemetry_ready_flag = false;
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// Calculate motor RPM
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if (magnet_count < 1)
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{
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result.msg = INVALID_MAGNET_COUNT;
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return result;
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}
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uint16_t erpm = _last_erpm_atomic;
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uint8_t pole_pairs = max(1, (magnet_count / 2));
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uint32_t motor_rpm = (erpm / pole_pairs);
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result.success = true;
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result.erpm = erpm;
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result.motor_rpm = motor_rpm;
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result.msg = TELEMETRY_SUCCESS;
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return result;
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}
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// Get RPM from ESC (bidirectional mode only) - backward compatibility
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uint16_t DShotRMT::_getERPM()
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{
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static uint16_t last_erpm = 0;
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// Result container
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dshot_telemetry_result_t result = {false, 0, 0, TELEMETRY_FAILED};
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// Check if bidirectional mode is enabled
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if (!_is_bidirectional)
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{
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return last_erpm;
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}
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// RMT RX event data
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rmt_rx_done_event_data_t rx_data;
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// Wait for data from the RX callback for a certain timeout
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if (xQueueReceive(_rx_queue, &rx_data, pdMS_TO_TICKS(DSHOT_RX_TIMEOUT_MS)) == pdTRUE)
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{
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// Decode the received symbols if a valid frame was received
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if (rx_data.num_symbols > DSHOT_NULL_PACKET)
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if (erpm != DSHOT_NULL_PACKET && magnet_count >= 1)
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{
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last_erpm = _decodeDShotFrame(rx_data.received_symbols);
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uint8_t pole_pairs = max(MIN_POLE_PAIRS, (magnet_count / MAGNETS_PER_POLE_PAIR));
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uint32_t motor_rpm = (erpm / pole_pairs);
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result.success = true;
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result.erpm = erpm;
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result.motor_rpm = motor_rpm;
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result.msg = TELEMETRY_SUCCESS;
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}
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}
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return last_erpm;
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return result;
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}
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// Build a complete DShot packet
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@ -455,9 +410,10 @@ uint16_t DShotRMT::_calculateCRC(const uint16_t data)
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// Per calculate bits - Performance optimized
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void DShotRMT::_preCalculateBitPositions()
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{
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for (int i = 0; i < DSHOT_BITS_PER_FRAME; ++i) {
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for (int i = 0; i < DSHOT_BITS_PER_FRAME; ++i)
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{
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_bitPositions[i] = DSHOT_BITS_PER_FRAME - 1 - i;
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}
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}
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}
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// Transmit DShot packet via RMT
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@ -468,6 +424,7 @@ dshot_result_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
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// Check timing requirements
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if (!_timer_signal())
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{
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result.msg = TIMING_CORRECTION;
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return result;
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}
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@ -536,7 +493,8 @@ bool IRAM_ATTR DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_sym
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_parsed_packet = _parseDShotPacket(packet);
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// Decode MSB
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for (int i = 0; i < DSHOT_BITS_PER_FRAME; ++i) {
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for (int i = 0; i < DSHOT_BITS_PER_FRAME; ++i)
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{
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// Use precalculated bit positions - Performace optimized
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int bit_position = _bitPositions[i];
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@ -623,10 +581,10 @@ void DShotRMT::printDShotInfo(Stream &output) const
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// Current DShot mode
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output.printf("Current Mode: DSHOT%d\n",
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_mode == DSHOT150 ? 150 :
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_mode == DSHOT300 ? 300 :
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_mode == DSHOT600 ? 600 :
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_mode == DSHOT1200 ? 1200 : 0);
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_mode == DSHOT150 ? 150 :
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_mode == DSHOT300 ? 300 :
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_mode == DSHOT600 ? 600 :
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_mode == DSHOT1200 ? 1200 : 0);
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output.printf("Bidirectional: %s\n", _is_bidirectional ? "YES" : "NO");
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@ -637,7 +595,7 @@ void DShotRMT::printDShotInfo(Stream &output) const
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output.printf("Current Packet: ");
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// Print bit by bit
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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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if ((_parsed_packet >> i) & 1)
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{
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11
DShotRMT.h
11
DShotRMT.h
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@ -24,6 +24,8 @@ static constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000;
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static constexpr auto DSHOT_RX_TIMEOUT_MS = 2; // Never reached, just a timeeout
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static constexpr auto GCR_BITS_PER_FRAME = 21; // Number of GCR bits in a DShot answer frame (1 start + 16 data + 4 CRC)
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static constexpr auto DEFAULT_MOTOR_MAGNET_COUNT = 14;
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static constexpr auto MAGNETS_PER_POLE_PAIR = 2;
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static constexpr auto MIN_POLE_PAIRS = 1;
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static constexpr auto NO_DSHOT_ERPM = 0;
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static constexpr auto NO_DSHOT_RPM = 0;
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@ -153,6 +155,7 @@ private:
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bool _is_bidirectional;
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uint32_t _frame_timer_us;
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const dshot_timing_t &_timing_config;
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uint16_t _last_throttle;
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// --- TIMING & PACKET VARIABLES ---
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uint64_t _last_transmission_time;
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@ -189,16 +192,15 @@ private:
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bool IRAM_ATTR _encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols);
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uint16_t _decodeDShotFrame(const rmt_symbol_word_t *symbols);
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// --- HELPERS ---
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uint16_t _getERPM();
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// --- TIMING CONTROL ---
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bool IRAM_ATTR _timer_signal();
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bool _timer_reset();
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// -- CALLBACKS ---
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QueueHandle_t _rx_queue;
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rmt_rx_event_callbacks_t _rx_event_callbacks;
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volatile rmt_symbol_word_t _rx_symbols_direct[GCR_BITS_PER_FRAME];
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volatile uint16_t _last_erpm_atomic;
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volatile bool _telemetry_ready_flag;
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static bool IRAM_ATTR _rmt_rx_done_callback(rmt_channel_handle_t rmt_rx_channel, const rmt_rx_done_event_data_t *edata, void *user_data);
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// --- DSHOT DEFAULTS ---
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@ -228,4 +230,5 @@ private:
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static constexpr char const *TELEMETRY_SUCCESS = "Valid Telemetric Frame received!";
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static constexpr char const *TELEMETRY_FAILED = "No valid Telemetric Frame received!";
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static constexpr char const *INVALID_MAGNET_COUNT = "Invalid motor magnet count!";
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static constexpr char const *TIMING_CORRECTION = "Timing correction!";
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};
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