Cansat
/
DShotRMT
2
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

...non-blocking interval 

...not using "delay" anymore
This commit is contained in:
Wastl Kraus 2025-07-25 12:15:52 +02:00
parent e00c7ce2f1
commit 4db92a9b31
1 changed files with 22 additions and 16 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

38
DShotRMT.cpp
View File

@ -84,25 +84,31 @@ void DShotRMT::begin()
// Encodes and transmits a valid DShot throttle value (48 - 2047) // Encodes and transmits a valid DShot throttle value (48 - 2047)
void DShotRMT::setThrottle(uint16_t throttle) void DShotRMT::setThrottle(uint16_t throttle)
{ {
// Clamp input range for packet // Simple timer
_dshot_packet.throttle_value = constrain(throttle, DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX) & 0b0000011111111111; static long last_time = 0;
// Calculate CRC for every throttle value // Keep a pause between the frames
calculateCRC(&_dshot_packet); if (micros() - last_time >= _pauseDuration)
// Encode RMT symbols
size_t count = 0;
encodeDShotTX(&_dshot_packet, _tx_symbols, count);
// Transmit the packet
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"); last_time = micros();
return;
}
// Pause between frames // Clamp input range for throttle value
esp_rom_delay_us(_pauseDuration); _dshot_packet.throttle_value = constrain(throttle, DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX) & 0b0000011111111111;
// Calculate CRC for every throttle value
calculateCRC(&_dshot_packet);
// Encode RMT symbols
size_t count = 0;
encodeDShotTX(&_dshot_packet, _tx_symbols, count);
// Transmit the packet
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;
}
}
} }
// Receives and decodes a response frame from ESC containing eRPM info // Receives and decodes a response frame from ESC containing eRPM info