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DShotRMT
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This commit is contained in:
Wastl Kraus 2025-09-02 15:18:37 +02:00
parent 99a694cbef
commit 6dca9f9264
3 changed files with 8 additions and 7 deletions
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11
DShotRMT.cpp
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@ -119,7 +119,7 @@ bool DShotRMT::_initTXChannel()
_tx_channel_config.clk_src = DSHOT_CLOCK_SRC_DEFAULT; _tx_channel_config.clk_src = DSHOT_CLOCK_SRC_DEFAULT;
_tx_channel_config.resolution_hz = DSHOT_RMT_RESOLUTION; _tx_channel_config.resolution_hz = DSHOT_RMT_RESOLUTION;
_tx_channel_config.mem_block_symbols = RMT_BUFFER_SYMBOLS; _tx_channel_config.mem_block_symbols = RMT_BUFFER_SYMBOLS;
_tx_channel_config.trans_queue_depth = RMT_TRANSMIT_QUEUE_DEPTH; _tx_channel_config.trans_queue_depth = RMT_QUEUE_DEPTH;
// Configure transmission // Configure transmission
_transmit_config.loop_count = 0; // No automatic loops - real-time calculation _transmit_config.loop_count = 0; // No automatic loops - real-time calculation
@ -139,7 +139,7 @@ bool DShotRMT::_initTXChannel()
bool DShotRMT::_initRXChannel() bool DShotRMT::_initRXChannel()
{ {
// Create a queue to receive data from the RX callback // Create a queue to receive data from the RX callback
_rx_queue = xQueueCreate(1, sizeof(rmt_rx_done_event_data_t)); _rx_queue = xQueueCreate(RMT_QUEUE_DEPTH, sizeof(rmt_rx_done_event_data_t));
if (_rx_queue == nullptr) if (_rx_queue == nullptr)
{ {
return DSHOT_ERROR; return DSHOT_ERROR;
@ -173,7 +173,7 @@ bool DShotRMT::_initRXChannel()
return (rmt_enable(_rmt_rx_channel) == DSHOT_OK); return (rmt_enable(_rmt_rx_channel) == DSHOT_OK);
} }
// Callback for RMT reception completion // Callback for RMT RX
bool IRAM_ATTR DShotRMT::_rmt_rx_done_callback(rmt_channel_handle_t rx_chan, const rmt_rx_done_event_data_t *edata, void *user_data) bool IRAM_ATTR DShotRMT::_rmt_rx_done_callback(rmt_channel_handle_t rx_chan, const rmt_rx_done_event_data_t *edata, void *user_data)
{ {
// Get the queue handle // Get the queue handle
@ -253,13 +253,14 @@ uint16_t DShotRMT::getERPM()
return _last_erpm; return _last_erpm;
} }
// RMT RX event data
rmt_rx_done_event_data_t rx_data; rmt_rx_done_event_data_t rx_data;
// Wait for data from the RX callback for a certain timeout // Wait for data from the RX callback for a certain timeout
if (xQueueReceive(_rx_queue, &rx_data, pdMS_TO_TICKS(DSHOT_RX_TIMEOUT_MS)) == pdTRUE) if (xQueueReceive(_rx_queue, &rx_data, pdMS_TO_TICKS(DSHOT_RX_TIMEOUT_MS)) == pdTRUE)
{ {
// Decode the received symbols if a valid frame was received // Decode the received symbols if a valid frame was received
if (rx_data.num_symbols > 0) if (rx_data.num_symbols > DSHOT_NULL_PACKET)
{ {
_last_erpm = _decodeDShotFrame(rx_data.received_symbols); _last_erpm = _decodeDShotFrame(rx_data.received_symbols);
} }
@ -336,7 +337,7 @@ uint16_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
return DSHOT_ERROR; return DSHOT_ERROR;
} }
// Enable RX reception before transmission for bidirectional mode // Enable RMT RX before RMT TX
if (_is_bidirectional) if (_is_bidirectional)
{ {
rmt_receive(_rmt_rx_channel, _rx_symbols, sizeof(_rx_symbols), &_receive_config); rmt_receive(_rmt_rx_channel, _rx_symbols, sizeof(_rx_symbols), &_receive_config);

2
DShotRMT.h
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@ -30,7 +30,7 @@ constexpr auto DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
constexpr auto DSHOT_RMT_RESOLUTION = 10 * 1000 * 1000; // 10 MHz resolution constexpr auto DSHOT_RMT_RESOLUTION = 10 * 1000 * 1000; // 10 MHz resolution
constexpr auto RMT_BUFFER_SIZE = DSHOT_BITS_PER_FRAME; constexpr auto RMT_BUFFER_SIZE = DSHOT_BITS_PER_FRAME;
constexpr auto RMT_BUFFER_SYMBOLS = 64; constexpr auto RMT_BUFFER_SYMBOLS = 64;
constexpr auto RMT_TRANSMIT_QUEUE_DEPTH = 1; constexpr auto RMT_QUEUE_DEPTH = 1;
// Smallest pulse for DShot1200 is 2us. Largest for DShot150 is 40us. // 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. // The range is set from 3us (3000ns) to 60us (60000ns) to be safe across all modes.

2
library.properties
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@ -1,5 +1,5 @@
name=DShotRMT name=DShotRMT
version=0.6.3 version=0.6.5
author=derdoktor667 author=derdoktor667
maintainer=derdoktor667 maintainer=derdoktor667
sentence=DShotRMT Library supporting all DShot Types and speeds. Tested with BlHeli_S. sentence=DShotRMT Library supporting all DShot Types and speeds. Tested with BlHeli_S.