Readability changes
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Wastl Kraus
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a8c2ccaaea
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4e84b2e5e7
142
DShotRMT.cpp
142
DShotRMT.cpp
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@ -6,27 +6,29 @@
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#include <DShotRMT.h>
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// Constructor that takes gpio and rmtChannel as arguments
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DShotRMT::DShotRMT(gpio_num_t gpio, rmt_channel_t rmtChannel)
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{
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// Initialize the configuration structure
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// Initialize the dshot_config structure with the arguments passed to the constructor
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dshot_config.gpio_num = gpio;
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dshot_config.pin_num = uint8_t(gpio);
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dshot_config.pin_num = static_cast<uint8_t>(gpio);
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dshot_config.rmt_channel = rmtChannel;
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dshot_config.mem_block_num = uint8_t(RMT_CHANNEL_MAX - uint8_t(rmtChannel));
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dshot_config.mem_block_num = static_cast<uint8_t>(RMT_CHANNEL_MAX - static_cast<uint8_t>(rmtChannel));
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// ...create empty packet
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// Create an empty packet using the DSHOT_NULL_PACKET and the buildTxRmtItem function
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buildTxRmtItem(DSHOT_NULL_PACKET);
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}
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// Constructor that takes pin and channel as arguments
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DShotRMT::DShotRMT(uint8_t pin, uint8_t channel)
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{
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// Initialize the configuration structure
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dshot_config.gpio_num = gpio_num_t(pin);
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// Initialize the dshot_config structure with the arguments passed to the constructor
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dshot_config.gpio_num = static_cast<gpio_num_t>(pin);
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dshot_config.pin_num = pin;
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dshot_config.rmt_channel = rmt_channel_t(channel);
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dshot_config.mem_block_num = (RMT_CHANNEL_MAX - channel);
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dshot_config.rmt_channel = static_cast<rmt_channel_t>(channel);
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dshot_config.mem_block_num = RMT_CHANNEL_MAX - channel;
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// ...create empty packet
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// Create an empty packet using the DSHOT_NULL_PACKET and the buildTxRmtItem function
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buildTxRmtItem(DSHOT_NULL_PACKET);
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}
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@ -43,59 +45,62 @@ DShotRMT::DShotRMT(DShotRMT const &)
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bool DShotRMT::begin(dshot_mode_t dshot_mode, bool is_bidirectional)
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{
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// Set DShot configuration parameters based on input parameters
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dshot_config.mode = dshot_mode;
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dshot_config.clk_div = DSHOT_CLK_DIVIDER;
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dshot_config.name_str = dshot_mode_name[dshot_mode];
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dshot_config.is_bidirectional = is_bidirectional;
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// Set timing parameters based on selected DShot mode
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switch (dshot_config.mode)
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{
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case DSHOT150:
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dshot_config.ticks_per_bit = 64; // ...Bit Period Time 6.67 us
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dshot_config.ticks_zero_high = 24; // ...zero time 2.50 us
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dshot_config.ticks_one_high = 48; // ...one time 5.00 us
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dshot_config.ticks_per_bit = 64;
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dshot_config.ticks_zero_high = 24;
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dshot_config.ticks_one_high = 48;
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break;
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case DSHOT300:
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dshot_config.ticks_per_bit = 32; // ...Bit Period Time 3.33 us
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dshot_config.ticks_zero_high = 12; // ...zero time 1.25 us
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dshot_config.ticks_one_high = 24; // ...one time 2.50 us
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dshot_config.ticks_per_bit = 32;
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dshot_config.ticks_zero_high = 12;
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dshot_config.ticks_one_high = 24;
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break;
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case DSHOT600:
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dshot_config.ticks_per_bit = 16; // ...Bit Period Time 1.67 us
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dshot_config.ticks_zero_high = 6; // ...zero time 0.625 us
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dshot_config.ticks_one_high = 12; // ...one time 1.25 us
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dshot_config.ticks_per_bit = 16;
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dshot_config.ticks_zero_high = 6;
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dshot_config.ticks_one_high = 12;
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break;
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case DSHOT1200:
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dshot_config.ticks_per_bit = 8; // ...Bit Period Time 0.83 us
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dshot_config.ticks_zero_high = 3; // ...zero time 0.313 us
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dshot_config.ticks_one_high = 6; // ...one time 0.625 us
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dshot_config.ticks_per_bit = 8;
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dshot_config.ticks_zero_high = 3;
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dshot_config.ticks_one_high = 6;
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break;
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// ...because having a default is "good style"
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// Default case to handle invalid input
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default:
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dshot_config.ticks_per_bit = 0; // ...Bit Period Time endless
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dshot_config.ticks_zero_high = 0; // ...no bits, no time
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dshot_config.ticks_one_high = 0; // ......no bits, no time
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dshot_config.ticks_per_bit = 0;
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dshot_config.ticks_zero_high = 0;
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dshot_config.ticks_one_high = 0;
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break;
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}
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// ...calc low signal timing
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// Calculate low signal timing
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dshot_config.ticks_zero_low = (dshot_config.ticks_per_bit - dshot_config.ticks_zero_high);
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dshot_config.ticks_one_low = (dshot_config.ticks_per_bit - dshot_config.ticks_one_high);
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// Set up RMT configuration for DShot transmission
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dshot_tx_rmt_config.rmt_mode = RMT_MODE_TX;
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dshot_tx_rmt_config.channel = dshot_config.rmt_channel;
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dshot_tx_rmt_config.gpio_num = dshot_config.gpio_num;
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dshot_tx_rmt_config.mem_block_num = dshot_config.mem_block_num;
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dshot_tx_rmt_config.clk_div = dshot_config.clk_div;
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dshot_tx_rmt_config.tx_config.loop_en = false;
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dshot_tx_rmt_config.tx_config.carrier_en = false;
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dshot_tx_rmt_config.tx_config.idle_output_en = true;
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// Set idle level for RMT transmission based on input parameter
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if (dshot_config.is_bidirectional)
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{
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dshot_tx_rmt_config.tx_config.idle_level = RMT_IDLE_LEVEL_HIGH;
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@ -105,87 +110,94 @@ bool DShotRMT::begin(dshot_mode_t dshot_mode, bool is_bidirectional)
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dshot_tx_rmt_config.tx_config.idle_level = RMT_IDLE_LEVEL_LOW;
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}
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// ...setup selected dshot mode
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// Set up selected DShot mode
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rmt_config(&dshot_tx_rmt_config);
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// ...essential step, return the result
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// Install RMT driver and return result
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return rmt_driver_install(dshot_tx_rmt_config.channel, 0, 0);
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}
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// ...the config part is done, now the calculating and sending part
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// void DShotRMT::sendThrottleValue(uint16_t throttle_value, telemetric_request_t telemetric_request)
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// Define a function to send a DShot command over an RMT interface to control a brushless motor's speed.
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void DShotRMT::sendThrottleValue(uint16_t throttle_value)
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{
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dshot_packet_t dshot_rmt_packet = {};
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// Check if the throttle value is less than the minimum allowed value for the DShot protocol.
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if (throttle_value < DSHOT_THROTTLE_MIN)
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{
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throttle_value = DSHOT_THROTTLE_MIN;
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}
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// Check if the throttle value is greater than the maximum allowed value for the DShot protocol.
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if (throttle_value > DSHOT_THROTTLE_MAX)
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{
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throttle_value = DSHOT_THROTTLE_MAX;
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}
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// ...packets are the same for bidirectional mode
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dshot_rmt_packet.throttle_value = throttle_value;
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// dshot_rmt_packet.telemetric_request = telemetric_request;
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// Telemetric using additional pin on the ESC is not supported.
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dshot_rmt_packet.telemetric_request = NO_TELEMETRIC;
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// Calculate the checksum for the DShot packet using the calculateCRC function.
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dshot_rmt_packet.checksum = calculateCRC(dshot_rmt_packet);
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// Send the DShot packet over the RMT interface to control the motor's speed.
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sendRmtPaket(dshot_rmt_packet);
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}
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// This method builds the RMT data transmission sequence for the DShot protocol
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rmt_item32_t *DShotRMT::buildTxRmtItem(uint16_t parsed_packet)
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{
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// ...for bidirectional mode
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// Check if DShot is set to bidirectional mode
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if (dshot_config.is_bidirectional)
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{
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// ..."invert" the high / low bits
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// If bidirectional, invert the high/low bits
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for (int i = 0; i < DSHOT_PAUSE_BIT; i++, parsed_packet <<= 1)
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{
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if (parsed_packet & 0b1000000000000000)
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{
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// set one
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// Set RMT item for a logic high signal
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dshot_tx_rmt_item[i].duration0 = dshot_config.ticks_one_low;
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dshot_tx_rmt_item[i].duration1 = dshot_config.ticks_one_high;
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}
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else
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{
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// set zero
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// Set RMT item for a logic low signal
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dshot_tx_rmt_item[i].duration0 = dshot_config.ticks_zero_low;
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dshot_tx_rmt_item[i].duration1 = dshot_config.ticks_zero_high;
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}
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// Set level of RMT item
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dshot_tx_rmt_item[i].level0 = 0;
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dshot_tx_rmt_item[i].level1 = 1;
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}
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}
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// ..."normal" DShot mode / "bidirectional" mode OFF
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else
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{
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// If not bidirectional, set the RMT items as usual
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for (int i = 0; i < DSHOT_PAUSE_BIT; i++, parsed_packet <<= 1)
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{
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if (parsed_packet & 0b1000000000000000)
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{
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// set one
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// Set RMT item for a logic high signal
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dshot_tx_rmt_item[i].duration0 = dshot_config.ticks_one_high;
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dshot_tx_rmt_item[i].duration1 = dshot_config.ticks_one_low;
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}
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else
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{
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// set zero
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// Set RMT item for a logic low signal
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dshot_tx_rmt_item[i].duration0 = dshot_config.ticks_zero_high;
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dshot_tx_rmt_item[i].duration1 = dshot_config.ticks_zero_low;
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}
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// Set level of RMT item
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dshot_tx_rmt_item[i].level0 = 1;
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dshot_tx_rmt_item[i].level1 = 0;
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}
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}
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// Set end marker for each frame
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if (dshot_config.is_bidirectional)
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{
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dshot_tx_rmt_item[DSHOT_PAUSE_BIT].level0 = 1;
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@ -197,39 +209,37 @@ rmt_item32_t *DShotRMT::buildTxRmtItem(uint16_t parsed_packet)
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dshot_tx_rmt_item[DSHOT_PAUSE_BIT].level1 = 1;
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}
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// ...end marker added to each frame
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// Add packet seperator aka DShot Pause.
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dshot_tx_rmt_item[DSHOT_PAUSE_BIT].duration1 = DSHOT_PAUSE;
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// Return the rmt_item
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return dshot_tx_rmt_item;
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}
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// Legacy CRC calculation
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// uint16_t DShotRMT::calculateCRC(const dshot_packet_t &dshot_packet)
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// {
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// uint16_t packet = DSHOT_NULL_PACKET;
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// uint16_t crc = DSHOT_NULL_PACKET;
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// // Same initial 11 bits for both bidirectional and normal mode
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// packet = (dshot_packet.throttle_value << 1) | dshot_packet.telemetric_request;
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// if (dshot_config.is_bidirectional)
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// {
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// // Calculate checksum in inverted/bidirectional mode
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// crc = (~(packet ^ (packet >> 4) ^ (packet >> 8))) & 0x0F;
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// }
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// else
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// {
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// // Calculate checksum in normal mode
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// crc = (packet ^ (packet >> 4) ^ (packet >> 8)) & 0x0F;
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// }
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// return crc;
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// }
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// New way of calculating CRC
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// Calculates a CRC value for a DShot digital control signal packet
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uint16_t DShotRMT::calculateCRC(const dshot_packet_t &dshot_packet)
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{
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uint16_t crc;
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// Combine the throttle value and telemetric request flag into a 16-bit packet value
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const uint16_t packet = (dshot_packet.throttle_value << 1) | dshot_packet.telemetric_request;
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const uint16_t crc = dshot_config.is_bidirectional
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? (~(packet ^ (packet >> 4) ^ (packet >> 8))) & 0x0F
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: (packet ^ (packet >> 4) ^ (packet >> 8)) & 0x0F;
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// Calculate the CRC value using different bitwise operations depending on the DShot configuration
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if (dshot_config.is_bidirectional)
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{
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// Bidirectional configuration: perform a bitwise negation of the result of XORing the packet with its right-shifted values by 4 and 8 bits,
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// and then bitwise AND the result with 0x0F
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const uint16_t intermediate_result = packet ^ (packet >> 4) ^ (packet >> 8);
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crc = (~intermediate_result) & 0x0F;
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}
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else
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{
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// Unidirectional configuration: XOR the packet with its right-shifted values by 4 and 8 bits,
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// and then bitwise AND the result with 0x0F
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crc = (packet ^ (packet >> 4) ^ (packet >> 8)) & 0x0F;
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}
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// Return the calculated CRC value as a 16-bit unsigned integer
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return crc;
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}
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51
DShotRMT.h
51
DShotRMT.h
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@ -86,31 +86,32 @@ typedef struct dshot_config_s
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} dshot_config_t;
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// The official DShot Commands
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typedef enum dshot_cmd_e {
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DSHOT_CMD_MOTOR_STOP = 0, // Currently not implemented - STOP Motors
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DSHOT_CMD_BEEP1, // Wait at least length of beep (380ms) before next command
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DSHOT_CMD_BEEP2, // Wait at least length of beep (380ms) before next command
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DSHOT_CMD_BEEP3, // Wait at least length of beep (400ms) before next command
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DSHOT_CMD_BEEP4, // Wait at least length of beep (400ms) before next command
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DSHOT_CMD_BEEP5, // Wait at least length of beep (400ms) before next command
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DSHOT_CMD_ESC_INFO, // Currently not implemented
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DSHOT_CMD_SPIN_DIRECTION_1, // Need 6x, no wait required
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DSHOT_CMD_SPIN_DIRECTION_2, // Need 6x, no wait required
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DSHOT_CMD_3D_MODE_OFF, // Need 6x, no wait required
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DSHOT_CMD_3D_MODE_ON, // Need 6x, no wait required
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DSHOT_CMD_SETTINGS_REQUEST, // Currently not implemented
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DSHOT_CMD_SAVE_SETTINGS, // Need 6x, wait at least 12ms before next command
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DSHOT_CMD_SPIN_DIRECTION_NORMAL, // Need 6x, no wait required
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DSHOT_CMD_SPIN_DIRECTION_REVERSED, // Need 6x, no wait required
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DSHOT_CMD_LED0_ON, // Currently not implemented
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DSHOT_CMD_LED1_ON, // Currently not implemented
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DSHOT_CMD_LED2_ON, // Currently not implemented
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DSHOT_CMD_LED3_ON, // Currently not implemented
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DSHOT_CMD_LED0_OFF, // Currently not implemented
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DSHOT_CMD_LED1_OFF, // Currently not implemented
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DSHOT_CMD_LED2_OFF, // Currently not implemented
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DSHOT_CMD_LED3_OFF, // Currently not implemented
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DSHOT_CMD_MAX = 47
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typedef enum dshot_cmd_e
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{
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DSHOT_CMD_MOTOR_STOP = 0, // Currently not implemented - STOP Motors
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DSHOT_CMD_BEEP1, // Wait at least length of beep (380ms) before next command
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DSHOT_CMD_BEEP2, // Wait at least length of beep (380ms) before next command
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DSHOT_CMD_BEEP3, // Wait at least length of beep (400ms) before next command
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DSHOT_CMD_BEEP4, // Wait at least length of beep (400ms) before next command
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DSHOT_CMD_BEEP5, // Wait at least length of beep (400ms) before next command
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DSHOT_CMD_ESC_INFO, // Currently not implemented
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DSHOT_CMD_SPIN_DIRECTION_1, // Need 6x, no wait required
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DSHOT_CMD_SPIN_DIRECTION_2, // Need 6x, no wait required
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DSHOT_CMD_3D_MODE_OFF, // Need 6x, no wait required
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DSHOT_CMD_3D_MODE_ON, // Need 6x, no wait required
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DSHOT_CMD_SETTINGS_REQUEST, // Currently not implemented
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DSHOT_CMD_SAVE_SETTINGS, // Need 6x, wait at least 12ms before next command
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DSHOT_CMD_SPIN_DIRECTION_NORMAL, // Need 6x, no wait required
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DSHOT_CMD_SPIN_DIRECTION_REVERSED, // Need 6x, no wait required
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DSHOT_CMD_LED0_ON, // Currently not implemented
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DSHOT_CMD_LED1_ON, // Currently not implemented
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DSHOT_CMD_LED2_ON, // Currently not implemented
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DSHOT_CMD_LED3_ON, // Currently not implemented
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DSHOT_CMD_LED0_OFF, // Currently not implemented
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DSHOT_CMD_LED1_OFF, // Currently not implemented
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DSHOT_CMD_LED2_OFF, // Currently not implemented
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DSHOT_CMD_LED3_OFF, // Currently not implemented
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DSHOT_CMD_MAX = 47
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} dshot_cmd_t;
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// The main DShotRMT class
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