...add simple error messages
This commit is contained in:
Wastl Kraus
parent
51bdeeedc4
commit
772024671b
54
DShotRMT.cpp
54
DShotRMT.cpp
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@ -46,21 +46,21 @@ bool DShotRMT::begin()
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// Init TX Channel
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if (!_initTXChannel())
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{
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Serial.println("Failed to initialize TX channel");
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Serial.println(DSHOT_MSG_01);
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return DSHOT_ERROR;
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}
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// Init RX Channel
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if (!_initRXChannel() && _is_bidirectional)
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{
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Serial.println("Failed to initialize RX channel");
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Serial.println(DSHOT_MSG_02);
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return DSHOT_ERROR;
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}
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// Init DShot Decoder
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if (!_initDShotEncoder())
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{
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Serial.println("Failed to initialize encoder");
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Serial.println(DSHOT_MSG_02);
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return DSHOT_ERROR;
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}
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@ -74,6 +74,7 @@ bool DShotRMT::setThrottle(uint16_t throttle)
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// Precheck throttle value
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if (throttle < DSHOT_THROTTLE_MIN || throttle > DSHOT_THROTTLE_MAX)
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{
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Serial.println(DSHOT_MSG_06);
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return DSHOT_ERROR;
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}
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@ -86,9 +87,10 @@ bool DShotRMT::setThrottle(uint16_t throttle)
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//
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bool DShotRMT::sendDShotCommand(uint16_t command)
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{
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// Precheck throttle value
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// Precheck command value
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if (command < DSHOT_CMD_MOTOR_STOP || command > DSHOT_CMD_MAX)
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{
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Serial.println(DSHOT_MSG_07);
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return DSHOT_ERROR;
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}
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@ -99,21 +101,24 @@ bool DShotRMT::sendDShotCommand(uint16_t command)
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}
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//
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uint32_t DShotRMT::getERPM()
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uint16_t DShotRMT::getERPM()
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{
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if (!_is_bidirectional || !_rmt_rx_channel)
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{
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Serial.println(DSHOT_MSG_08);
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return _last_erpm;
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}
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// Try to receive telemetry data
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rmt_symbol_word_t _rx_symbols[RX_BUFFER_SIZE];
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if (!rmt_receive(_rmt_rx_channel, _rx_symbols, DSHOT_SYMBOLS_SIZE, &_receive_config))
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{
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Serial.println(DSHOT_MSG_09);
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return _last_erpm;
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}
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// Decode the response
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uint16_t new_erpm = _decodeDShotFrame(_rx_symbols, DSHOT_BITS_PER_FRAME);
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uint16_t new_erpm = _decodeDShotFrame(_rx_symbols);
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if (new_erpm != 0)
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{
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_last_erpm = new_erpm;
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@ -139,12 +144,13 @@ bool DShotRMT::_initTXChannel()
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_tx_channel_config.mem_block_symbols = DSHOT_SYMBOLS_SIZE;
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_tx_channel_config.trans_queue_depth = TX_BUFFER_SIZE;
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//
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_transmit_config.loop_count = 0;
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// ...it's a trap
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_transmit_config.flags.eot_level = _is_bidirectional ? 1 : 0;
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// Creates and activate RMT TX Channel
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// Creates and activates RMT TX Channel
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if (rmt_new_tx_channel(&_tx_channel_config, &_rmt_tx_channel) != DSHOT_OK)
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{
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return DSHOT_ERROR;
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@ -165,7 +171,7 @@ bool DShotRMT::_initRXChannel()
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_receive_config.signal_range_min_ns = 300;
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_receive_config.signal_range_max_ns = 5000;
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// Create and activate RMT TX Channel
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// Creates and activates RMT TX Channel
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if (rmt_new_rx_channel(&_rx_channel_config, &_rmt_rx_channel) != DSHOT_OK)
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{
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return DSHOT_ERROR;
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@ -185,13 +191,13 @@ bool DShotRMT::_initDShotEncoder()
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// Use RMT to transmit a prepared DShot packet and returns it
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bool DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
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{
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//
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if (_timer_signal())
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{
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// Encodes packet directly into RMT Buffer
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// Exclude calculation from timing is more stable
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rmt_symbol_word_t tx_symbols[DSHOT_BITS_PER_FRAME];
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_encodeDShotFrame(packet, tx_symbols);
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// Checking timer signal
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if (_timer_signal())
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{
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// Trigger RMT Transmit
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rmt_transmit(_rmt_tx_channel, _dshot_encoder, tx_symbols, DSHOT_SYMBOLS_SIZE, &_transmit_config);
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@ -217,14 +223,14 @@ uint16_t DShotRMT::_calculateCRC(const dshot_packet_t &packet)
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return crc;
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}
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//
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// Returns bitwise parsed DShot packet
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uint16_t DShotRMT::_parseDShotPacket(const dshot_packet_t &packet)
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{
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// Parses DShot Frame
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uint16_t data = (packet.throttle_value << 1) | packet.telemetric_request;
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return (data << 4) | _calculateCRC(packet);
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}
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// Returns a "true" DShot Packet ready to roll
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dshot_packet_t DShotRMT::_buildDShotPacket(const uint16_t value)
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{
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// DShot Frame Container
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@ -239,10 +245,10 @@ dshot_packet_t DShotRMT::_buildDShotPacket(const uint16_t value)
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return packet;
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}
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//
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// Encodes DShot packet into RMT buffer
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bool IRAM_ATTR DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols)
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{
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// Decoding "raw" DShot Packet
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// Parse actual packet into buffer
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_current_packet = _parseDShotPacket(packet);
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// Convert the parsed dshot frame to rmt_tx data
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@ -269,7 +275,7 @@ bool IRAM_ATTR DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_sym
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}
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//
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uint16_t DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols, size_t symbol_count)
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uint16_t DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
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{
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uint16_t received_frame = 0;
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@ -282,10 +288,10 @@ uint16_t DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols, size_t sy
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// Extract payload and CRC
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uint16_t data = received_frame >> 4;
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uint8_t received_crc = received_frame & 0b0000000000001111;
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uint16_t received_crc = received_frame & 0b0000000000001111;
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// Calculate CRC for received frame
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uint8_t calculated_crc = (data ^ (data >> 4) ^ (data >> 8)) & 0b0000000000001111;
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uint16_t calculated_crc = (data ^ (data >> 4) ^ (data >> 8)) & 0b0000000000001111;
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if (_is_bidirectional)
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{
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calculated_crc = (~calculated_crc) & 0b0000000000001111;
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@ -294,25 +300,23 @@ uint16_t DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols, size_t sy
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// Compare CRC
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if (received_crc != calculated_crc)
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{
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Serial.println("RX CRC Check failed");
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Serial.println(DSHOT_MSG_04);
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return 0b0000000000000000;
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}
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// Remove telemetry bit and return eRPM
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// Removes telemetry bit and returns 10bit value
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return data >> 1;
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}
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//
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// Timer triggered
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bool DShotRMT::_timer_signal()
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{
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// Timer triggered
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return (micros() - _last_transmission_time) >= _frame_time_us;
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}
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//
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// Updates timestamp
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bool DShotRMT::_timer_reset()
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{
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// Timestamp update
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_last_transmission_time = micros();
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return DSHOT_OK;
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}
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39
DShotRMT.h
39
DShotRMT.h
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@ -13,10 +13,6 @@
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#include <driver/gpio.h>
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#include <driver/rmt_tx.h>
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#include <driver/rmt_rx.h>
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#include <hw_defaults.h>
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static constexpr bool DSHOT_OK = 0;
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static constexpr bool DSHOT_ERROR = 1;
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// --- DShot Protocol Constants ---
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static constexpr uint16_t DSHOT_THROTTLE_FAILSAFE = 0;
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@ -35,7 +31,7 @@ static constexpr size_t RX_BUFFER_SIZE = 32;
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static constexpr size_t DSHOT_SYMBOLS_SIZE = 64;
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// --- DShot Mode Select ---
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typedef enum
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typedef enum dshot_mode_e
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{
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DSHOT_OFF,
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DSHOT150,
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@ -45,7 +41,7 @@ typedef enum
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} dshot_mode_t;
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// --- DShot Packet Structure ---
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typedef struct
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typedef struct dshot_packet_s
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{
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uint16_t throttle_value : 11;
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bool telemetric_request : 1;
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@ -53,7 +49,7 @@ typedef struct
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} dshot_packet_t;
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// --- DShot Timing Config ---
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typedef struct
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typedef struct dshot_timing_s
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{
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uint16_t frame_length_us;
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uint16_t ticks_per_bit;
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@ -83,14 +79,18 @@ public:
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bool sendDShotCommand(uint16_t command);
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// Gets eRPM from ESC telemetry
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uint32_t getERPM();
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uint16_t getERPM();
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// Converts eRPM to motor RPM
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uint32_t getMotorRPM(uint8_t magnet_count);
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//
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gpio_num_t getGPIO() const { return _gpio; }
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// Returns GPIO Pin
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uint16_t getGPIO() const { return _gpio; }
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// Returns "raw" Dshot packet sent by RMT
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uint16_t getDShotPacket() { return _current_packet; }
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//
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bool is_bidirectional() const { return _is_bidirectional; }
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private:
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@ -98,7 +98,7 @@ private:
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gpio_num_t _gpio;
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dshot_mode_t _mode;
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bool _is_bidirectional;
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uint32_t _frame_time_us;
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uint16_t _frame_time_us;
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// --- DShot Timings ---
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const dshot_timing_t &_timing_config;
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@ -115,10 +115,9 @@ private:
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rmt_receive_config_t _receive_config;
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// --- Buffers ---
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rmt_symbol_word_t _rx_symbols[RX_BUFFER_SIZE];
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uint16_t _last_erpm;
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unsigned long _last_transmission_time;
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uint16_t _current_packet;
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unsigned long _last_transmission_time;
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//
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bool _initTXChannel();
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@ -130,10 +129,20 @@ 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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bool IRAM_ATTR _encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols);
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uint16_t _decodeDShotFrame(const rmt_symbol_word_t *symbols, size_t symbol_count);
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uint16_t _decodeDShotFrame(const rmt_symbol_word_t *symbols);
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bool _timer_signal();
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bool _timer_reset();
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//
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// Error Handling
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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 *DSHOT_MSG_01 = "Failed to initialize TX channel!";
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static constexpr char *DSHOT_MSG_02 = "Failed to initialize RX channe!l";
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static constexpr char *DSHOT_MSG_03 = "Failed to initialize encoder!";
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static constexpr char *DSHOT_MSG_04 = "RX CRC Check failed!";
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static constexpr char *DSHOT_MSG_06 = "Throttle value not in range (48 - 2047)!";
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static constexpr char *DSHOT_MSG_07 = "Not a valid DShot Command (0 - 47)!";
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static constexpr char *DSHOT_MSG_08 = "Bidirectional DShot support not enabled!";
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static constexpr char *DSHOT_MSG_09 = "RX RMT module failure!";
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};
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@ -1,36 +0,0 @@
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/**
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* @file hw_defaults.h
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* @brief Some Shortcuts
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* @author Wastl Kraus
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* @date 2025-08-02
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* @license MIT
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*/
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#ifdef ESP32
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// USB-Serial (UART0): GPIO1/3 in use by default
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// Serial1
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constexpr auto PIN_UART1_TX = GPIO_NUM_13;
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constexpr auto PIN_UART1_RX = GPIO_NUM_14;
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// Serial2
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constexpr auto PIN_UART2_TX = GPIO_NUM_16;
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constexpr auto PIN_UART2_RX = GPIO_NUM_17;
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// SPI (VSPI)
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constexpr auto PIN_SPI_SCLK = GPIO_NUM_18;
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constexpr auto PIN_SPI_MISO = GPIO_NUM_19;
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constexpr auto PIN_SPI_MOSI = GPIO_NUM_23;
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constexpr auto PIN_SPI_SS = GPIO_NUM_5;
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// I2C (Wire)
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constexpr auto PIN_I2C_SDA = GPIO_NUM_21;
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constexpr auto PIN_I2C_SCL = GPIO_NUM_22;
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// RMT (5 Channels)
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constexpr auto PIN_RMT_CH0 = GPIO_NUM_25;
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constexpr auto PIN_RMT_CH1 = GPIO_NUM_26;
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constexpr auto PIN_RMT_CH2 = GPIO_NUM_27;
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constexpr auto PIN_RMT_CH3 = GPIO_NUM_32;
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constexpr auto PIN_RMT_CH4 = GPIO_NUM_33;
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#endif // ESP32
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