...prepare release
This commit is contained in:
Wastl Kraus
parent
682b26b544
commit
7c87661c0a
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@ -10,9 +10,6 @@ concurrency:
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group: ${{ github.workflow }}-${{ github.ref }}
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cancel-in-progress: true
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env:
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ESP32_CORE_VERSION: '3.3.0'
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jobs:
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# ============================================================================
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# Code Quality & Linting
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@ -33,15 +30,15 @@ jobs:
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uses: actions/cache@v4
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with:
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path: |
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~/.arduino15
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key: ${{ runner.os }}-arduino-${{ env.ESP32_CORE_VERSION }}-${{ hashFiles('**/libraries/**') }}
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~/
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key: ${{ runner.os }}-arduino-${{ hashFiles('**/libraries/**') }}
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restore-keys: |
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${{ runner.os }}-arduino-${{ env.ESP32_CORE_VERSION }}-
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${{ runner.os }}-arduino-
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- name: Install ESP32 core
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run: |
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arduino-cli core update-index
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arduino-cli core install esp32:esp32@${{ env.ESP32_CORE_VERSION }}
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arduino-cli core install esp32:esp32
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- name: Arduino Lint
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uses: arduino/arduino-lint-action@v1
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@ -79,15 +76,15 @@ jobs:
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uses: actions/cache@v4
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with:
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path: |
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~/.arduino15
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key: ${{ runner.os }}-arduino-${{ env.ESP32_CORE_VERSION }}-${{ hashFiles('**/libraries/**') }}
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~/
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key: ${{ runner.os }}-arduino-${{ hashFiles('**/libraries/**') }}
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restore-keys: |
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${{ runner.os }}-arduino-${{ env.ESP32_CORE_VERSION }}-
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${{ runner.os }}-arduino-
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- name: Install ESP32 core
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run: |
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arduino-cli core update-index
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arduino-cli core install esp32:esp32@${{ env.ESP32_CORE_VERSION }}
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arduino-cli core install esp32:esp32
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- name: Install Repo as Library
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run: |
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@ -117,15 +114,15 @@ jobs:
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uses: actions/cache@v4
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with:
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path: |
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~/.arduino15
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key: ${{ runner.os }}-arduino-${{ env.ESP32_CORE_VERSION }}-${{ hashFiles('**/libraries/**') }}
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~/
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key: ${{ runner.os }}-arduino-${{ hashFiles('**/libraries/**') }}
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restore-keys: |
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${{ runner.os }}-arduino-${{ env.ESP32_CORE_VERSION }}-
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${{ runner.os }}-arduino-
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- name: Install ESP32 core
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run: |
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arduino-cli core update-index
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arduino-cli core install esp32:esp32@${{ env.ESP32_CORE_VERSION }}
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arduino-cli core install esp32:esp32
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- name: Install Cppcheck
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run: sudo apt-get update && sudo apt-get install -y cppcheck
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12
DShotRMT.cpp
12
DShotRMT.cpp
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@ -58,6 +58,9 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional)
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_last_transmission_time(0),
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_parsed_packet(0),
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_packet{0},
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_bitPositions{0},
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_level0(_is_bidirectional ? 0 : 1),
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_level1(_is_bidirectional ? 1 : 0),
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_rmt_tx_channel(nullptr),
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_rmt_rx_channel(nullptr),
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_dshot_encoder(nullptr),
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@ -531,19 +534,16 @@ dshot_result_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
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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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_parsed_packet = _parseDShotPacket(packet);
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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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// Decode MSB
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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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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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symbols[i].level1 = _level1;
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symbols[i].duration1 = bit ? _timing_config.ticks_one_low : _timing_config.ticks_zero_low;
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}
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|
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@ -159,10 +159,8 @@ private:
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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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uint32_t _failed_transmissions;
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uint16_t _level0;
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uint16_t _level1;
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// --- RMT HARDWARE HANDLES ---
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rmt_channel_handle_t _rmt_tx_channel;
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|
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334
README.md
334
README.md
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@ -3,7 +3,7 @@
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# DShotRMT - ESP32 Library (Rewrite for ESP-IDF 5)
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A modern, robust C++ library for generating DShot signals on the ESP32 using the new ESP-IDF 5 RMT encoder API (`rmt_tx.h` / `rmt_rx.h`).
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Supports all standard DShot modes (150, 300, 600) and features continuous frame transmission with configurable pause.
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Supports all standard DShot modes (150, 300, 600, 1200) and features continuous frame transmission with configurable timing.
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**Now with BiDirectional DShot support and advanced command management!**
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> The legacy version (using the old `rmt.h` API) is still available in the `oldAPI` branch.
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@ -12,20 +12,36 @@ Supports all standard DShot modes (150, 300, 600) and features continuous frame
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## 🚀 Features
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- **All DShot Modes:** DSHOT150, DSHOT300 (default), DSHOT600, (DSHOT1200)
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- **BiDirectional DShot:** Experimental support for RPM feedback
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- **All DShot Modes:** DSHOT150, DSHOT300 (default), DSHOT600, DSHOT1200
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- **BiDirectional DShot:** Full support for RPM telemetry feedback
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- **Advanced Command Manager:** High-level API for ESC configuration and control
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- **Command Sequences:** Predefined initialization and calibration sequences
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- **Continuous Frames:** Independent timed, Hardware signal generation
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- **Configurable Pause:** Ensures ESCs can reliably detect frame boundaries
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- **Hardware-Timed Signals:** Independent, precise signal generation using ESP32 RMT peripheral
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- **Configurable Timing:** Ensures ESCs can reliably detect frame boundaries
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- **Error Handling:** Comprehensive result reporting with success/failure status
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- **Simple API:** Easy integration into your Arduino or ESP-IDF project
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---
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## 📦 Installation
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Clone this repository and add it to your Arduino libraries or ESP-IDF components.
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### Arduino IDE
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1. Search "Arduino Library Manager" for "DShotRMT"
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or
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1. Clone this repository or download as ZIP
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2. Place in your Arduino libraries folder (`~/Arduino/libraries/DShotRMT/`)
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3. Restart Arduino IDE
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### PlatformIO
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Add to your `platformio.ini`:
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```ini
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lib_deps =
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https://github.com/derdoktor667/DShotRMT.git
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```
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|
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### Manual Installation
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```sh
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git clone https://github.com/derdoktor667/DShotRMT.git
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```
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@ -39,216 +55,208 @@ git clone https://github.com/derdoktor667/DShotRMT.git
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```cpp
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#include <DShotRMT.h>
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// Create motor instance
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DShotRMT motor(17, DSHOT300);
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// Create motor instance (GPIO 17, DSHOT300, non-bidirectional)
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DShotRMT motor(17, DSHOT300, false);
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void setup() {
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Serial.begin(115200);
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motor.begin();
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// Initialize the motor
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dshot_result_t result = motor.begin();
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if (result.success) {
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Serial.println("Motor initialized successfully");
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} else {
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Serial.printf("Motor init failed: %s\n", result.msg);
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}
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}
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void loop() {
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motor.sendThrottle(1000); // Send throttle value
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delay(20);
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// Send throttle value (48-2047)
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dshot_result_t result = motor.sendThrottle(1000);
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if (!result.success) {
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Serial.printf("Throttle command failed: %s\n", result.msg);
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}
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}
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```
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|
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### Advanced Usage (DShotCommandManager)
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### Bidirectional DShot (RPM Telemetry)
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```cpp
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#include <DShotRMT.h>
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#include <DShotCommandManager.h>
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// Create motor and command manager instances
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DShotRMT motor(17, DSHOT300);
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DShotCommandManager cmdManager(motor);
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// Enable bidirectional mode for telemetry
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DShotRMT motor(17, DSHOT300, true);
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void setup() {
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Serial.begin(115200);
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motor.begin();
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cmdManager.begin();
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|
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// Execute initialization sequence
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cmdManager.executeInitSequence();
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}
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|
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void loop() {
|
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// Your main code here
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// Send throttle
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motor.sendThrottle(1000);
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|
||||
// Get telemetry data
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dshot_telemetry_result_t telemetry = motor.getTelemetry(14); // 14 magnets
|
||||
if (telemetry.success) {
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Serial.printf("eRPM: %u, Motor RPM: %u\n",
|
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telemetry.erpm,
|
||||
telemetry.motor_rpm);
|
||||
}
|
||||
}
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 🎛️ DShotCommandManager API
|
||||
|
||||
The `DShotCommandManager` provides a high-level interface for ESC control and configuration:
|
||||
|
||||
### Motor Control
|
||||
- `stopMotor()` - Stop motor immediately
|
||||
- `set3DMode(bool enable)` - Enable/disable 3D mode
|
||||
- `setSpinDirection(bool reversed)` - Set motor spin direction
|
||||
- `saveSettings()` - Save current settings to ESC
|
||||
|
||||
### LED Control (BLHeli32 only)
|
||||
- `setLED(uint8_t led_number, bool state)` - Control ESC LEDs (0-3)
|
||||
|
||||
### Beacon Functions
|
||||
- `activateBeacon(uint8_t beacon_number)` - Activate motor beeping (1-5)
|
||||
|
||||
### Telemetry
|
||||
- `setExtendedTelemetry(bool enable)` - Enable/disable extended telemetry
|
||||
- `requestESCInfo()` - Request ESC information
|
||||
|
||||
### Command Sequences
|
||||
- `executeInitSequence()` - Basic ESC initialization
|
||||
- `executeCalibrationSequence()` - ESC calibration sequence
|
||||
- `executeSequence(sequence, length)` - Custom command sequences
|
||||
|
||||
### Utility Functions
|
||||
- `getCommandName(command)` - Get command name as string
|
||||
- `isValidCommand(command)` - Validate command
|
||||
- `printStatistics()` - Print execution statistics
|
||||
- `resetStatistics()` - Reset execution counters
|
||||
|
||||
---
|
||||
|
||||
## 📚 Examples
|
||||
|
||||
### 1. Basic DShot Control
|
||||
Use the `dshot300.ino` example for simple throttle control.
|
||||
The library includes comprehensive examples:
|
||||
|
||||
### 2. Advanced Command Management
|
||||
Use the `command_manager.ino` example for interactive ESC control:
|
||||
### 1. Basic DShot Control (`dshot300.ino`)
|
||||
- Simple throttle control
|
||||
- Command execution
|
||||
- Serial interface for testing
|
||||
- Telemetry reading (if bidirectional enabled)
|
||||
|
||||
### 2. Advanced Command Management (`command_manager.ino`)
|
||||
Interactive ESC control with full menu system:
|
||||
```
|
||||
=== DShot Command Manager Menu ===
|
||||
Basic Commands:
|
||||
1 - Stop Motor
|
||||
2 - Activate Beacon 1
|
||||
3 - Set Normal Spin Direction
|
||||
4 - Set Reversed Spin Direction
|
||||
5 - Enable 3D Mode
|
||||
6 - Disable 3D Mode
|
||||
7 - Save Settings
|
||||
8 - Turn LED 0 ON
|
||||
9 - Turn LED 0 OFF
|
||||
1 - Stop Motor
|
||||
2 - Activate Beacon 1
|
||||
3 - Set Normal Spin Direction
|
||||
4 - Set Reversed Spin Direction
|
||||
5 - Get ESC Info
|
||||
6 - Turn LED 0 ON
|
||||
7 - Turn LED 0 OFF
|
||||
0 - Emergency Stop
|
||||
|
||||
Sequences:
|
||||
i - Execute Initialization Sequence
|
||||
c - Execute Calibration Sequence
|
||||
|
||||
Advanced:
|
||||
cmd <number> - Send DShot command (0 - 47)
|
||||
throttle <value> - Set throttle (48 - 2047)
|
||||
throttle 0 - Stop sending throttle
|
||||
Advanced Commands:
|
||||
cmd <number> - Send DShot command (0-47)
|
||||
throttle <value> - Set throttle (48-2047)
|
||||
repeat cmd <num> count <count> - Repeat command
|
||||
```
|
||||
|
||||
---
|
||||
|
||||
## 📚 DShot Protocol Overview
|
||||
## 🔧 Hardware Configuration
|
||||
|
||||
DShot transmits 16-bit packets to brushless ESCs:
|
||||
### Supported DShot Modes
|
||||
|
||||
- **11 bits:** Throttle value
|
||||
- **1 bit:** Telemetry request
|
||||
- **4 bits:** Checksum (CRC)
|
||||
| Mode | Bitrate | Bit Time | Frame Time | Use Case |
|
||||
|----------|-------------|----------|------------|----------|
|
||||
| DSHOT150 | 150 kbit/s | 6.67 µs | ~107 µs | Long wires, EMI-prone |
|
||||
| DSHOT300 | 300 kbit/s | 3.33 µs | ~53 µs | Standard (recommended) |
|
||||
| DSHOT600 | 600 kbit/s | 1.67 µs | ~27 µs | High performance |
|
||||
| DSHOT1200| 1200 kbit/s | 0.83 µs | ~13 µs | Racing applications |
|
||||
|
||||
Data is sent MSB-first. Pulse timing depends on the selected DShot mode.
|
||||
### GPIO Configuration
|
||||
```cpp
|
||||
// Using GPIO number
|
||||
DShotRMT motor(17, DSHOT300);
|
||||
|
||||
| DSHOT | Bitrate | TH1 | TH0 | Bit Time (µs) | Frame Time (µs) |
|
||||
|-------|-------------|-------|--------|---------------|-----------------|
|
||||
| 150 | 150 kbit/s | 5.00 | 2.50 | 6.67 | ~106.72 |
|
||||
| 300 | 300 kbit/s | 2.50 | 1.25 | 3.33 | ~53.28 |
|
||||
| 600 | 600 kbit/s | 1.25 | 0.625 | 1.67 | ~26.72 |
|
||||
// Using GPIO enum
|
||||
DShotRMT motor(GPIO_NUM_17, DSHOT300);
|
||||
|
||||
Each frame is followed by a pause to help ESCs detect separate frames.
|
||||
|
||||
|
||||
|
||||
---
|
||||
|
||||
## 🔒 Checksum Calculation
|
||||
|
||||
The checksum is calculated over the first 12 bits (throttle + telemetry):
|
||||
|
||||
```c
|
||||
crc = (value ^ (value >> 4) ^ (value >> 8)) & 0x0F;
|
||||
// With bidirectional support
|
||||
DShotRMT motor(17, DSHOT300, true);
|
||||
```
|
||||
|
||||
### Bidirectional DSHOT
|
||||
|
||||
Bidirectional DSHOT (sometimes called "inverted DSHOT") inverts the signal level:
|
||||
A logical '1' is low, and a '0' is high. This signals the ESC to send telemetry packets back.
|
||||
|
||||
**Bidirectional CRC:**
|
||||
|
||||
```c
|
||||
crc = (~(value ^ (value >> 4) ^ (value >> 8))) & 0x0F;
|
||||
```
|
||||
|
||||
> **Note:** Bidirectional DShot is experimental. Further hardware testing is needed.
|
||||
|
||||
---
|
||||
|
||||
## 🛠️ ESP32 RMT Peripheral
|
||||
|
||||
The RMT (Remote Control) peripheral generates accurate, hardware-timed signals for controlling external devices.
|
||||
Perfect for DShot:
|
||||
- Utilizes latest ESP-IDF APIs
|
||||
- Hardware-timed pulses
|
||||
- CPU-independent
|
||||
- Loop mode with inter-frame pause
|
||||
- Reliable under system load
|
||||
|
||||
---
|
||||
|
||||
## 📝 Core API Reference
|
||||
|
||||
### DShotRMT Class
|
||||
- `DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool isBidirectional)`
|
||||
- `uint16_t begin()`
|
||||
- `bool sendThrottle(uint16_t throttle)`
|
||||
- `bool sendCommand(uint16_t command)`
|
||||
- `uint16_t getERPM()` - Get eRPM (bidirectional mode only)
|
||||
- `uint32_t getMotorRPM(uint8_t magnet_count)` - Convert to motor RPM
|
||||
|
||||
### DShotCommandManager Class
|
||||
- `DShotCommandManager(DShotRMT &dshot_instance)`
|
||||
- `bool begin()`
|
||||
- `dshot_command_result_t sendCommand(dshot_commands_t command, uint16_t repeat_count = 1)`
|
||||
- `dshot_command_result_t sendCommandWithDelay(dshot_commands_t command, uint16_t repeat_count, uint32_t delay_ms)`
|
||||
|
||||
All command methods return a `dshot_command_result_t` structure containing:
|
||||
- `bool success` - Command execution status
|
||||
- `uint32_t execution_time_us` - Execution time in microseconds
|
||||
- `const char* error_message` - Error description
|
||||
|
||||
---
|
||||
|
||||
## 🎯 DShot Commands
|
||||
|
||||
The library supports all standard DShot commands:
|
||||
|
||||
| Command | Value | Description |
|
||||
|---------|-------|-------------|
|
||||
| MOTOR_STOP | 0 | Stop motor |
|
||||
| BEACON1-5 | 1-5 | Motor beeping |
|
||||
| ESC_INFO | 6 | Request ESC information |
|
||||
| SPIN_DIRECTION_1/2 | 7-8 | Set spin direction |
|
||||
| 3D_MODE_OFF/ON | 9-10 | 3D mode control |
|
||||
| SAVE_SETTINGS | 12 | Save settings to ESC |
|
||||
| EXTENDED_TELEMETRY_ENABLE/DISABLE | 13-14 | Telemetry control |
|
||||
| LED0-3_ON/OFF | 22-29 | LED control (BLHeli32) |
|
||||
| AUDIO_STREAM_MODE | 30 | KISS audio mode |
|
||||
| SILENT_MODE | 31 | KISS silent mode |
|
||||
| Command | Value | Description | Usage |
|
||||
|---------|-------|-------------|-------|
|
||||
| MOTOR_STOP | 0 | Stop motor | Always available |
|
||||
| BEACON1 - 5 | 1 - 5 | Motor beeping | Motor identification |
|
||||
| ESC_INFO | 6 | Request ESC info | Get ESC version/settings |
|
||||
| SPIN_DIRECTION_1/2 | 7 - 8 | Set spin direction | Motor configuration |
|
||||
| 3D_MODE_OFF/ON | 9 - 10 | 3D mode control | Bidirectional flight |
|
||||
| SAVE_SETTINGS | 12 | Save to EEPROM | Permanent configuration |
|
||||
| EXTENDED_TELEMETRY_ENABLE/DISABLE | 13 - 14 | Telemetry control | Data transmission |
|
||||
| SPIN_DIRECTION_NORMAL/REVERSED | 20 - 21 | Spin direction | Alias commands |
|
||||
| LED0-3_ON/OFF | 22 - 29 | LED control | BLHeli32 only |
|
||||
| AUDIO_STREAM_MODE | 30 | Audio mode toggle | KISS ESCs |
|
||||
| SILENT_MODE | 31 | Silent mode toggle | KISS ESCs |
|
||||
|
||||
---
|
||||
|
||||
## 📖 References
|
||||
## 📚 DShot Protocol Details
|
||||
|
||||
|
||||
|
||||
### Packet Structure
|
||||
Each DShot frame consists of 16 bits:
|
||||
- **11 bits:** Throttle/command value (0-2047)
|
||||
- **1 bit:** Telemetry request flag
|
||||
- **4 bits:** CRC checksum
|
||||
|
||||
### Checksum Calculation
|
||||
```cpp
|
||||
// Standard DShot CRC
|
||||
uint16_t crc = (data ^ (data >> 4) ^ (data >> 8)) & 0x0F;
|
||||
|
||||
// Bidirectional DShot (inverted CRC)
|
||||
uint16_t crc = (~(data ^ (data >> 4) ^ (data >> 8))) & 0x0F;
|
||||
```
|
||||
|
||||
### Bidirectional DShot
|
||||
- **Inverted Logic:** High/low levels are inverted
|
||||
- **GCR Encoding:** Telemetry uses Group Code Recording
|
||||
- **21-bit Response:** 1 start + 16 data + 4 CRC bits
|
||||
- **eRPM Data:** Electrical RPM transmitted back to controller
|
||||
|
||||
---
|
||||
|
||||
## 🛠️ ESP32 RMT Peripheral
|
||||
|
||||
The library utilizes the ESP32's RMT (Remote Control) peripheral for precise signal generation:
|
||||
|
||||
### Advantages
|
||||
- **Hardware Timing:** No CPU intervention during transmission
|
||||
- **Concurrent Operation:** Multiple channels can run simultaneously
|
||||
- **DMA Support:** Efficient memory-to-peripheral transfers
|
||||
|
||||
---
|
||||
|
||||
## 📖 References & Documentation
|
||||
|
||||
### DShot Protocol
|
||||
- [DSHOT – the missing Handbook](https://brushlesswhoop.com/dshot-and-bidirectional-dshot/)
|
||||
- [DSHOT in the Dark](https://dmrlawson.co.uk/index.php/2017/12/04/dshot-in-the-dark/)
|
||||
- [Betaflight DShot Implementation](https://github.com/betaflight/betaflight)
|
||||
|
||||
### ESP32 Documentation
|
||||
- [ESP32 Technical Reference Manual](https://www.espressif.com/sites/default/files/documentation/esp32_technical_reference_manual_en.pdf)
|
||||
- [ESP-IDF RMT Driver](https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-reference/peripherals/rmt.html)
|
||||
- [Arduino ESP32 Core](https://github.com/espressif/arduino-esp32)
|
||||
|
||||
---
|
||||
|
||||
## 🤝 Contributing
|
||||
|
||||
We welcome contributions! Please:
|
||||
|
||||
1. Fork the repository
|
||||
2. Create a feature branch
|
||||
3. Make your changes with tests
|
||||
4. Submit a pull request
|
||||
|
||||
### Development Guidelines
|
||||
- Follow existing code style
|
||||
- Add documentation for new features
|
||||
- Include examples where appropriate
|
||||
- Test with real hardware when possible
|
||||
|
||||
### Reporting Issues
|
||||
When reporting issues, please include:
|
||||
- ESP32 board type and version
|
||||
- Arduino/ESP-IDF version
|
||||
- ESC type and firmware
|
||||
- Complete error messages
|
||||
- Minimal reproduction code
|
||||
|
||||
---
|
||||
|
||||
|
|
@ -261,5 +269,5 @@ MIT License – see [LICENSE](LICENSE)
|
|||
## 👤 Author
|
||||
|
||||
**Wastl Kraus**
|
||||
GitHub: [@derdoktor667](https://github.com/derdoktor667)
|
||||
Website: [wir-sind-die-matrix.de](https://wir-sind-die-matrix.de)
|
||||
- GitHub: [@derdoktor667](https://github.com/derdoktor667)
|
||||
- Website: [wir-sind-die-matrix.de](https://wir-sind-die-matrix.de)
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
name=DShotRMT
|
||||
version=0.7.1
|
||||
version=0.7.2
|
||||
author=derdoktor667
|
||||
maintainer=derdoktor667
|
||||
sentence=DShotRMT Library supporting all DShot Types and speeds. Tested with BlHeli_S.
|
||||
|
|
|
|||
Loading…
Reference in New Issue