...testing performance updates
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Wastl Kraus
parent
feb6f4ecac
commit
682b26b544
27
DShotRMT.cpp
27
DShotRMT.cpp
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@ -152,6 +152,9 @@ dshot_result_t DShotRMT::begin()
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return result;
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}
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// Bit positions precalculation
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_preCalculateBitPositions();
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result.success = true;
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result.msg = INIT_SUCCESS;
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@ -331,7 +334,7 @@ dshot_result_t DShotRMT::sendCommand(uint16_t command)
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dshot_telemetry_result_t DShotRMT::getTelemetry(uint16_t magnet_count)
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{
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// Result container
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dshot_telemetry_result_t result = {false, 0, 0, TELEMETRY_FAILED};
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dshot_telemetry_result_t result = {false, NO_DSHOT_ERPM, NO_DSHOT_RPM, TELEMETRY_FAILED};
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// Check if bidirectional mode is enabled
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if (!_is_bidirectional)
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@ -349,6 +352,12 @@ dshot_telemetry_result_t DShotRMT::getTelemetry(uint16_t magnet_count)
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}
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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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uint8_t pole_pairs = max(1, (magnet_count / 2));
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uint32_t motor_rpm = (erpm / pole_pairs);
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@ -440,6 +449,14 @@ uint16_t DShotRMT::_calculateCRC(const uint16_t data)
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return crc;
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}
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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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_bitPositions[i] = DSHOT_BITS_PER_FRAME - 1 - i;
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}
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}
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// Transmit DShot packet via RMT
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dshot_result_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
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{
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@ -518,10 +535,12 @@ bool IRAM_ATTR DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_sym
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const uint16_t level0 = _is_bidirectional ? 0 : 1;
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const uint16_t level1 = _is_bidirectional ? 1 : 0;
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for (int i = 0; i < DSHOT_BITS_PER_FRAME; i++)
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{
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// Decode MSB
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bool bit = (_parsed_packet >> (DSHOT_BITS_PER_FRAME - 1 - i)) & 0b0000000000000001;
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for (int i = 0; i < DSHOT_BITS_PER_FRAME; ++i) {
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// Use precalculated bit positions - Performace optimized
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int bit_position = _bitPositions[i];
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bool bit = (_parsed_packet >> bit_position) & 0b0000000000000001;
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symbols[i].level0 = level0;
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symbols[i].duration0 = bit ? _timing_config.ticks_one_high : _timing_config.ticks_zero_high;
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symbols[i].level1 = level1;
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47
DShotRMT.h
47
DShotRMT.h
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@ -19,11 +19,13 @@ static constexpr auto DSHOT_THROTTLE_FAILSAFE = 0;
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static constexpr auto DSHOT_THROTTLE_MIN = 48;
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static constexpr auto DSHOT_THROTTLE_MAX = 2047;
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static constexpr auto DSHOT_BITS_PER_FRAME = 16;
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static constexpr auto DSHOT_SWITCH_TIME = 30; // Time in us - add some padding to RX - TX switching
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static constexpr auto DSHOT_SWITCH_TIME = 30; // Additional time in us for bidir switching
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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 NO_DSHOT_ERPM = 0;
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static constexpr auto NO_DSHOT_RPM = 0;
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// RMT Configuration Constants
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constexpr auto DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
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@ -152,10 +154,11 @@ private:
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uint32_t _frame_timer_us;
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const dshot_timing_t &_timing_config;
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// --- TIMING & STATE VARIABLES ---
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// --- TIMING & PACKET VARIABLES ---
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uint64_t _last_transmission_time;
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uint16_t _parsed_packet;
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dshot_packet_t _packet;
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uint8_t _bitPositions[DSHOT_BITS_PER_FRAME];
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// --- STATISTICS ---
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uint32_t _total_transmissions;
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@ -181,6 +184,7 @@ private:
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dshot_packet_t _buildDShotPacket(const uint16_t value);
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uint16_t _parseDShotPacket(const dshot_packet_t &packet);
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uint16_t _calculateCRC(const uint16_t data);
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void _preCalculateBitPositions();
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// --- FRAME PROCESSING ---
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dshot_result_t _sendDShotFrame(const dshot_packet_t &packet);
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@ -206,23 +210,24 @@ private:
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static constexpr bool DSHOT_OK = 0;
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static constexpr bool DSHOT_ERROR = 1;
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static constexpr char *NONE = "";
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static constexpr char *UNKNOWN_ERROR = "Unknown Error!";
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static constexpr char *INIT_SUCCESS = "SignalGeneratorRMT initialized successfully";
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static constexpr char *INIT_FAILED = "SignalGeneratorRMT init failed!";
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static constexpr char *TX_INIT_SUCCESS = "TX RMT channel initialized successfully";
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static constexpr char *TX_INIT_FAILED = "TX RMT channel init failed!";
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static constexpr char *RX_INIT_SUCCESS = "RX RMT channel initialized successfully";
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static constexpr char *RX_INIT_FAILED = "RX RMT channel init failed!";
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static constexpr char *RX_BUFFER_FAILED = "RX RMT buffer init failed!";
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static constexpr char *ENCODER_INIT_SUCCESS = "RMT encoder initialized successfully";
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static constexpr char *ENCODER_INIT_FAILED = "RMT encoder init failed!";
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static constexpr char *TRANSMISSION_SUCCESS = "Transmission successfully";
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static constexpr char *TRANSMISSION_FAILED = "Transmission failed!";
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static constexpr char *RECEIVER_FAILED = "RMT receiver failed!";
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static constexpr char *THROTTLE_NOT_IN_RANGE = "Throttle not in range! (48 - 2047)";
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static constexpr char *COMMAND_NOT_VALID = "Command not valid! (0 - 47)";
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static constexpr char *BIDIR_NOT_ENABLED = "Bidirectional DShot not enabled!";
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static constexpr char *TELEMETRY_SUCCESS = "Valid Telemetric Frame received!";
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static constexpr char *TELEMETRY_FAILED = "No valid Telemetric Frame received!";
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static constexpr char const *NONE = "";
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static constexpr char const *UNKNOWN_ERROR = "Unknown Error!";
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static constexpr char const *INIT_SUCCESS = "SignalGeneratorRMT initialized successfully";
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static constexpr char const *INIT_FAILED = "SignalGeneratorRMT init failed!";
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static constexpr char const *TX_INIT_SUCCESS = "TX RMT channel initialized successfully";
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static constexpr char const *TX_INIT_FAILED = "TX RMT channel init failed!";
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static constexpr char const *RX_INIT_SUCCESS = "RX RMT channel initialized successfully";
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static constexpr char const *RX_INIT_FAILED = "RX RMT channel init failed!";
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static constexpr char const *RX_BUFFER_FAILED = "RX RMT buffer init failed!";
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static constexpr char const *ENCODER_INIT_SUCCESS = "RMT encoder initialized successfully";
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static constexpr char const *ENCODER_INIT_FAILED = "RMT encoder init failed!";
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static constexpr char const *TRANSMISSION_SUCCESS = "Transmission successfully";
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static constexpr char const *TRANSMISSION_FAILED = "Transmission failed!";
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static constexpr char const *RECEIVER_FAILED = "RMT receiver failed!";
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static constexpr char const *THROTTLE_NOT_IN_RANGE = "Throttle not in range! (48 - 2047)";
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static constexpr char const *COMMAND_NOT_VALID = "Command not valid! (0 - 47)";
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static constexpr char const *BIDIR_NOT_ENABLED = "Bidirectional DShot not enabled!";
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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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};
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