...clean up
...better ram usage ...Update DShotRMT.cpp ...DShot answer GCR encoding "testing" ...Update DShotRMT.h ...add deconstructor
This commit is contained in:
Wastl Kraus
parent
a4ec6248ec
commit
639cf31c5f
90
DShotRMT.cpp
90
DShotRMT.cpp
|
|
@ -11,7 +11,7 @@
|
|||
|
||||
// Timing parameters for each DShot mode
|
||||
// Format: {frame_length_us, ticks_per_bit, ticks_one_high, ticks_one_low, ticks_zero_high, ticks_zero_low}
|
||||
constexpr dshot_timing_t DSHOT_TIMINGS[] = {
|
||||
static constexpr dshot_timing_t DSHOT_TIMINGS[] = {
|
||||
{0, 0, 0, 0, 0, 0}, // DSHOT_OFF
|
||||
{128, 64, 48, 16, 24, 40}, // DSHOT150
|
||||
{64, 32, 24, 8, 12, 20}, // DSHOT300
|
||||
|
|
@ -51,6 +51,36 @@ DShotRMT::DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional)
|
|||
// Delegates to primary constructor with type cast
|
||||
}
|
||||
|
||||
// Destructor for "better" code
|
||||
DShotRMT::~DShotRMT()
|
||||
{
|
||||
// ...kill them all
|
||||
if (_rmt_tx_channel)
|
||||
{
|
||||
rmt_disable(_rmt_tx_channel);
|
||||
rmt_del_channel(_rmt_tx_channel);
|
||||
}
|
||||
|
||||
//
|
||||
if (_rmt_rx_channel)
|
||||
{
|
||||
rmt_disable(_rmt_rx_channel);
|
||||
rmt_del_channel(_rmt_rx_channel);
|
||||
}
|
||||
|
||||
//
|
||||
if (_dshot_encoder)
|
||||
{
|
||||
rmt_del_encoder(_dshot_encoder);
|
||||
}
|
||||
|
||||
//
|
||||
if (_rx_queue)
|
||||
{
|
||||
vQueueDelete(_rx_queue);
|
||||
}
|
||||
}
|
||||
|
||||
// Initialize DShotRMT
|
||||
uint16_t DShotRMT::begin()
|
||||
{
|
||||
|
|
@ -88,8 +118,8 @@ bool DShotRMT::_initTXChannel()
|
|||
_tx_channel_config.gpio_num = _gpio;
|
||||
_tx_channel_config.clk_src = DSHOT_CLOCK_SRC_DEFAULT;
|
||||
_tx_channel_config.resolution_hz = DSHOT_RMT_RESOLUTION;
|
||||
_tx_channel_config.mem_block_symbols = TX_BUFFER_SIZE;
|
||||
_tx_channel_config.trans_queue_depth = RMT_BUFFER_SIZE;
|
||||
_tx_channel_config.mem_block_symbols = RMT_BUFFER_SYMBOLS;
|
||||
_tx_channel_config.trans_queue_depth = RMT_TRANSMIT_QUEUE_DEPTH;
|
||||
|
||||
// Configure transmission
|
||||
_transmit_config.loop_count = 0; // No automatic loops - real-time calculation
|
||||
|
|
@ -119,7 +149,7 @@ bool DShotRMT::_initRXChannel()
|
|||
_rx_channel_config.gpio_num = _gpio;
|
||||
_rx_channel_config.clk_src = DSHOT_CLOCK_SRC_DEFAULT;
|
||||
_rx_channel_config.resolution_hz = DSHOT_RMT_RESOLUTION;
|
||||
_rx_channel_config.mem_block_symbols = RX_BUFFER_SIZE;
|
||||
_rx_channel_config.mem_block_symbols = RMT_BUFFER_SYMBOLS;
|
||||
|
||||
// Configure reception parameters
|
||||
_receive_config.signal_range_min_ns = DSHOT_PULSE_MIN;
|
||||
|
|
@ -367,32 +397,56 @@ bool IRAM_ATTR DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_sym
|
|||
// Decode received RMT symbols
|
||||
uint16_t DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
|
||||
{
|
||||
uint16_t received_frame = 0;
|
||||
// DShot answer is GCR encoded?
|
||||
// GCR decoding: bit_N = gcr_bit_N ^ gcr_bit_(N-1)
|
||||
uint32_t raw_gcr_data = 0;
|
||||
|
||||
// Reconstruct frame from RMT symbols
|
||||
// Reconstruct the raw GCR frame from RMT symbols
|
||||
for (size_t i = 0; i < DSHOT_BITS_PER_FRAME; ++i)
|
||||
{
|
||||
// Determine bit value based on pulse duration comparison
|
||||
bool bit = symbols[i].duration0 > symbols[i].duration1;
|
||||
received_frame = (received_frame << 1) | bit;
|
||||
// Based on DShot bidirectional protocol, idle state is high, so first duration is low pulse.
|
||||
// Bit 1: long low pulse, short high pulse
|
||||
// Bit 0: short low pulse, long high pulse
|
||||
bool bit_is_one = symbols[i].duration0 > symbols[i].duration1;
|
||||
raw_gcr_data = (raw_gcr_data << 1) | bit_is_one;
|
||||
}
|
||||
|
||||
// Extract data and CRC from received frame
|
||||
uint16_t received_crc = received_frame & 0b0000000000001111;
|
||||
uint16_t data = received_frame >> 4;
|
||||
// Decode the GCR data to get the original 10-bit value
|
||||
uint16_t decoded_value = 0;
|
||||
for (int i = 0; i < 10; i++)
|
||||
{
|
||||
decoded_value = (decoded_value << 1) | ((raw_gcr_data >> (10 - 1 - i)) & 1);
|
||||
}
|
||||
|
||||
// Calculate expected CRC
|
||||
uint16_t calculated_crc = (data ^ (data >> 4) ^ (data >> 8)) & 0b0000000000001111;
|
||||
// Extract CRC from gcr answer
|
||||
uint16_t received_crc = raw_gcr_data & 0b0000000000001111;
|
||||
|
||||
// Validate CRC
|
||||
if (received_crc != calculated_crc)
|
||||
// Decode GCR-encoded 10-bit value to get the original 10-bit value and check CRC
|
||||
uint16_t received_data = 0;
|
||||
|
||||
// GCR first bit is XORed with 1
|
||||
uint16_t last_bit = 1;
|
||||
|
||||
for (int i = 0; i < 10; ++i)
|
||||
{
|
||||
bool current_bit = (raw_gcr_data >> (15 - i)) & 1;
|
||||
bool decoded_bit = current_bit ^ last_bit;
|
||||
received_data |= (decoded_bit << (9 - i));
|
||||
last_bit = current_bit;
|
||||
}
|
||||
|
||||
// Calculate CRC from the received and decoded data
|
||||
uint16_t calculated_crc = (received_data ^ (received_data >> 4) ^ (received_data >> 8)) & 0b0000000000001111;
|
||||
|
||||
// Validate CRC (inverted for bidirectional DShot)
|
||||
if (received_crc != ((~calculated_crc) & 0b0000000000001111))
|
||||
{
|
||||
_dshot_log(CRC_CHECK_FAILED);
|
||||
return DSHOT_NULL_PACKET;
|
||||
}
|
||||
|
||||
// Remove telemetry bit and return 10-bit value
|
||||
return data >> 1;
|
||||
// The data is eRPM * 100
|
||||
return received_data;
|
||||
}
|
||||
|
||||
// Check if enough time has passed for next transmission
|
||||
|
|
|
|||
18
DShotRMT.h
18
DShotRMT.h
|
|
@ -19,7 +19,7 @@ constexpr auto DSHOT_THROTTLE_FAILSAFE = 0;
|
|||
constexpr auto DSHOT_THROTTLE_MIN = 48;
|
||||
constexpr auto DSHOT_THROTTLE_MAX = 2047;
|
||||
constexpr auto DSHOT_BITS_PER_FRAME = 16;
|
||||
constexpr auto DSHOT_SWITCH_TIME = 30;
|
||||
constexpr auto DSHOT_SWITCH_TIME = 30; // Time in us between TX and RX
|
||||
constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000;
|
||||
constexpr auto DSHOT_RX_TIMEOUT_MS = 2;
|
||||
|
||||
|
|
@ -27,8 +27,8 @@ constexpr auto DSHOT_RX_TIMEOUT_MS = 2;
|
|||
constexpr auto DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
|
||||
constexpr auto DSHOT_RMT_RESOLUTION = 10 * 1000 * 1000; // 10 MHz resolution
|
||||
constexpr auto RMT_BUFFER_SIZE = DSHOT_BITS_PER_FRAME;
|
||||
constexpr auto RX_BUFFER_SIZE = 64;
|
||||
constexpr auto TX_BUFFER_SIZE = 64;
|
||||
constexpr auto RMT_BUFFER_SYMBOLS = 64;
|
||||
constexpr auto RMT_TRANSMIT_QUEUE_DEPTH = 1;
|
||||
|
||||
// Smallest pulse for DShot1200 is 2us. Largest for DShot150 is 40us.
|
||||
// The range is set from 3us (3000ns) to 60us (60000ns) to be safe across all modes.
|
||||
|
|
@ -64,9 +64,6 @@ typedef struct dshot_timing_s
|
|||
uint16_t ticks_zero_low;
|
||||
} dshot_timing_t;
|
||||
|
||||
// External timing configurations
|
||||
extern const dshot_timing_t DSHOT_TIMINGS[];
|
||||
|
||||
//
|
||||
class DShotRMT
|
||||
{
|
||||
|
|
@ -79,6 +76,9 @@ public:
|
|||
// Constructor with pin number
|
||||
DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional);
|
||||
|
||||
// Destructor for "better" code
|
||||
~DShotRMT();
|
||||
|
||||
// Initialize the RMT module and DShot config
|
||||
uint16_t begin();
|
||||
|
||||
|
|
@ -114,7 +114,7 @@ private:
|
|||
// --- CONFIG ---
|
||||
gpio_num_t _gpio;
|
||||
dshot_mode_t _mode;
|
||||
uint16_t _is_bidirectional;
|
||||
bool _is_bidirectional;
|
||||
uint32_t _frame_timer_us;
|
||||
const dshot_timing_t &_timing_config;
|
||||
|
||||
|
|
@ -136,8 +136,8 @@ private:
|
|||
rmt_receive_config_t _receive_config;
|
||||
|
||||
// --- RMT DATA BUFFERS ---
|
||||
rmt_symbol_word_t _tx_symbols[TX_BUFFER_SIZE];
|
||||
rmt_symbol_word_t _rx_symbols[RX_BUFFER_SIZE];
|
||||
rmt_symbol_word_t _tx_symbols[RMT_BUFFER_SYMBOLS];
|
||||
rmt_symbol_word_t _rx_symbols[RMT_BUFFER_SYMBOLS];
|
||||
|
||||
// --- INITS ---
|
||||
bool _initTXChannel();
|
||||
|
|
|
|||
Loading…
Reference in New Issue