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DShotRMT
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...prepare for submodule use

This commit is contained in:
Wastl Kraus 2021-08-03 23:22:06 +02:00
parent ef22e54960
commit 6ffaa2fddb
2 changed files with 79 additions and 36 deletions
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99
src/DShotRMT.cpp
View File

@ -7,7 +7,7 @@
#include "DShotRMT.h"
DShotRMT::DShotRMT(gpio_num_t gpio, rmt_channel_t rmtChannel) {
dshot_config.gpio_num = gpio;
dshot_config.gpio_num = gpio;
dshot_config.pin_num = uint8_t(gpio);
dshot_config.rmt_channel = rmtChannel;
dshot_config.mem_block_num = uint8_t(RMT_CHANNEL_MAX - uint8_t(rmtChannel));
@ -77,25 +77,30 @@ bool DShotRMT::begin(dshot_mode_t dshot_mode, bool is_bidirectional) {
dshot_config.ticks_zero_low = (dshot_config.ticks_per_bit - dshot_config.ticks_zero_high);
dshot_config.ticks_one_low = (dshot_config.ticks_per_bit - dshot_config.ticks_one_high);
rmt_dshot_config.rmt_mode = RMT_MODE_TX;
rmt_dshot_config.channel = dshot_config.rmt_channel;
rmt_dshot_config.gpio_num = dshot_config.gpio_num;
rmt_dshot_config.mem_block_num = dshot_config.mem_block_num;
rmt_dshot_config.clk_div = dshot_config.clk_div;
dshot_tx_rmt_config.rmt_mode = RMT_MODE_TX;
dshot_tx_rmt_config.channel = dshot_config.rmt_channel;
dshot_tx_rmt_config.gpio_num = dshot_config.gpio_num;
dshot_tx_rmt_config.mem_block_num = dshot_config.mem_block_num;
dshot_tx_rmt_config.clk_div = dshot_config.clk_div;
dshot_tx_rmt_config.tx_config.loop_en = false;
dshot_tx_rmt_config.tx_config.carrier_en = false;
dshot_tx_rmt_config.tx_config.idle_output_en = true;
if (dshot_config.bidirectional) {
dshot_tx_rmt_config.tx_config.idle_level = RMT_IDLE_LEVEL_HIGH;
} else {
dshot_tx_rmt_config.tx_config.idle_level = RMT_IDLE_LEVEL_LOW;
}
rmt_dshot_config.tx_config.loop_en = false;
rmt_dshot_config.tx_config.carrier_en = false;
rmt_dshot_config.tx_config.idle_level = RMT_IDLE_LEVEL_LOW;
rmt_dshot_config.tx_config.idle_output_en = true;
// ...setup selected dshot mode
rmt_config(&rmt_dshot_config);
rmt_config(&dshot_tx_rmt_config);
// ...essential step, return the result
return rmt_driver_install(rmt_dshot_config.channel, 0, 0);
return rmt_driver_install(dshot_tx_rmt_config.channel, 0, 0);
}
//´...the config part is done, now the calculating and sending part
// ...the config part is done, now the calculating and sending part
void DShotRMT::send_dshot_value(uint16_t throttle_value, telemetric_request_t telemetric_request) {
dshot_packet_t dshot_rmt_packet = { };
@ -126,27 +131,55 @@ uint8_t* DShotRMT::get_dshot_clock_div() {
}
rmt_item32_t* DShotRMT::encode_dshot_to_rmt(uint16_t parsed_packet) {
for (int i = 0; i < DSHOT_PAUSE_BIT; i++, parsed_packet <<= 1) {
if (parsed_packet & 0b1000000000000000) {
// set one
dshot_tx_rmt_item[i].duration0 = dshot_config.ticks_one_high;
dshot_tx_rmt_item[i].duration1 = dshot_config.ticks_one_low;
}
else {
// set zero
dshot_tx_rmt_item[i].duration0 = dshot_config.ticks_zero_high;
dshot_tx_rmt_item[i].duration1 = dshot_config.ticks_zero_low;
}
// ...is bidirecional mode activated
if (dshot_config.bidirectional) {
// ..."invert" the signal duration
for (int i = 0; i < DSHOT_PAUSE_BIT; i++, parsed_packet <<= 1) {
if (parsed_packet & 0b1000000000000000) {
// set one
dshot_tx_rmt_item[i].duration0 = dshot_config.ticks_one_low;
dshot_tx_rmt_item[i].duration1 = dshot_config.ticks_one_high;
}
else {
// set zero
dshot_tx_rmt_item[i].duration0 = dshot_config.ticks_zero_low;
dshot_tx_rmt_item[i].duration1 = dshot_config.ticks_zero_high;
}
dshot_tx_rmt_item[i].level0 = 0;
dshot_tx_rmt_item[i].level1 = 1;
}
}
// ..."normal" DShot mode / "bidirectional" mode OFF
else {
for (int i = 0; i < DSHOT_PAUSE_BIT; i++, parsed_packet <<= 1) {
if (parsed_packet & 0b1000000000000000) {
// set one
dshot_tx_rmt_item[i].duration0 = dshot_config.ticks_one_high;
dshot_tx_rmt_item[i].duration1 = dshot_config.ticks_one_low;
}
else {
// set zero
dshot_tx_rmt_item[i].duration0 = dshot_config.ticks_zero_high;
dshot_tx_rmt_item[i].duration1 = dshot_config.ticks_zero_low;
}
dshot_tx_rmt_item[i].level0 = 1;
dshot_tx_rmt_item[i].level1 = 0;
}
}
}
if (dshot_config.bidirectional) {
dshot_tx_rmt_item[DSHOT_PAUSE_BIT].level0 = 1;
dshot_tx_rmt_item[DSHOT_PAUSE_BIT].level1 = 0;
} else {
dshot_tx_rmt_item[DSHOT_PAUSE_BIT].level0 = 0;
dshot_tx_rmt_item[DSHOT_PAUSE_BIT].level1 = 1;
}
// ...end marker added to each frame
dshot_tx_rmt_item[DSHOT_PAUSE_BIT].duration0 = (dshot_config.ticks_per_bit * DSHOT_PAUSE);
dshot_tx_rmt_item[DSHOT_PAUSE_BIT].level0 = 0;
dshot_tx_rmt_item[DSHOT_PAUSE_BIT].duration1 = 0;
dshot_tx_rmt_item[DSHOT_PAUSE_BIT].level1 = 0;
dshot_tx_rmt_item[DSHOT_PAUSE_BIT].duration1 = (DSHOT_PAUSE / 2);
return dshot_tx_rmt_item;
}
@ -154,6 +187,7 @@ rmt_item32_t* DShotRMT::encode_dshot_to_rmt(uint16_t parsed_packet) {
// ...just returns the checksum
// DOES NOT APPEND CHECKSUM!!!
uint16_t DShotRMT::calc_dshot_chksum(const dshot_packet_t& dshot_packet) {
// ...start with two emprty "container"
uint16_t packet = DSHOT_NULL_PACKET;
uint16_t chksum = DSHOT_NULL_PACKET;
@ -161,7 +195,7 @@ uint16_t DShotRMT::calc_dshot_chksum(const dshot_packet_t& dshot_packet) {
packet = (dshot_packet.throttle_value << 1) | dshot_packet.telemetric_request;
if (dshot_config.bidirectional) {
// ...calc the checksum "inverted" / bdirectional mode
// ...calc the checksum "inverted" / bidirectional mode
chksum = (~(packet ^ (packet >> 4) ^ (packet >> 8))) & 0x0F;
} else {
// ...calc the checksum "normal" mode
@ -175,6 +209,7 @@ uint16_t DShotRMT::prepare_rmt_data(const dshot_packet_t& dshot_packet) {
uint16_t prepared_to_encode = DSHOT_NULL_PACKET;
uint16_t chksum = calc_dshot_chksum(dshot_packet);
// ..."construct" the packet
prepared_to_encode = (dshot_packet.throttle_value << 1) | dshot_packet.telemetric_request;
prepared_to_encode = (prepared_to_encode << 4) | chksum;
@ -186,5 +221,5 @@ void DShotRMT::output_rmt_data(const dshot_packet_t& dshot_packet) {
encode_dshot_to_rmt(prepare_rmt_data(dshot_packet));
//
rmt_write_items(rmt_dshot_config.channel, dshot_tx_rmt_item, DSHOT_PACKET_LENGTH, false);
rmt_write_items(dshot_tx_rmt_config.channel, dshot_tx_rmt_item, DSHOT_PACKET_LENGTH, false);
}

16
src/DShotRMT.h
View File

@ -8,6 +8,7 @@
#include <Arduino.h>
#include "BlheliCmdMap.h"
#include "../fc_config.h"
// ...utilizing the IR Module library for generating the DShot signal
#include <driver/rmt.h>
@ -50,13 +51,20 @@ typedef enum telemetric_request_e {
ENABLE_TELEMETRIC,
} telemetric_request_t;
// ...set bitcount for DShot packet structure
// ...set bitcount for DShot packet
typedef struct dshot_packet_s {
uint16_t throttle_value : 11;
telemetric_request_t telemetric_request : 1;
uint16_t checksum : 4;
} dshot_packet_t;
// ...set bitcount for eRPM packet
typedef struct eRPM_packet_s {
uint16_t eRPM_data : 12;
uint8_t checksum : 4;
} eRPM_packet_t;
// ...all settings for the dshot mode
typedef struct dshot_config_s {
dshot_mode_t mode;
dshot_name_t name_str;
@ -88,9 +96,9 @@ class DShotRMT {
uint8_t* get_dshot_clock_div();
private:
rmt_item32_t dshot_tx_rmt_item[DSHOT_PACKET_LENGTH] = { };
dshot_config_t dshot_config = { };
rmt_config_t rmt_dshot_config = { };
rmt_item32_t dshot_tx_rmt_item[DSHOT_PACKET_LENGTH];
rmt_config_t dshot_tx_rmt_config;
dshot_config_t dshot_config;
rmt_item32_t* encode_dshot_to_rmt(uint16_t parsed_packet);
uint16_t calc_dshot_chksum(const dshot_packet_t& dshot_packet);