...start again
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Wastl Kraus
parent
a669eb3759
commit
7d64234471
13
DShotRMT.cpp
13
DShotRMT.cpp
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@ -32,6 +32,19 @@ DShotRMT::DShotRMT(uint8_t pin, uint8_t channel)
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buildTxRmtItem(DSHOT_NULL_PACKET);
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}
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// ...simplest but only for testing
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DShotRMT::DShotRMT(uint8_t pin)
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{
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// Initialize the dshot_config structure with the arguments passed to the constructor
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dshot_config.gpio_num = static_cast<gpio_num_t>(pin);
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dshot_config.pin_num = pin;
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dshot_config.rmt_channel = static_cast<rmt_channel_t>(RMT_CHANNEL_MAX -1);
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dshot_config.mem_block_num = RMT_CHANNEL_MAX - 1;
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// Create an empty packet using the DSHOT_NULL_PACKET and the buildTxRmtItem function
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buildTxRmtItem(DSHOT_NULL_PACKET);
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}
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DShotRMT::~DShotRMT()
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{
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// Uninstall the RMT driver
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92
DShotRMT.h
92
DShotRMT.h
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@ -67,6 +67,17 @@ typedef struct eRPM_packet_s
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uint8_t checksum : 4;
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} eRPM_packet_t;
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// return states of the RPM getting function
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typedef enum dshot_erpm_exit_mode_e
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{
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DECODE_SUCCESS = 0,
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ERR_EMPTY_QUEUE,
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ERR_NO_PACKETS,
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ERR_CHECKSUM_FAIL,
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ERR_BIDIRECTION_DISABLED,
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} dshot_erpm_exit_mode_t;
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// Structure for all settings for the DShot mode
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typedef struct dshot_config_s
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{
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@ -88,32 +99,66 @@ typedef struct dshot_config_s
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// The official DShot Commands
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typedef enum dshot_cmd_e
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{
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DSHOT_CMD_MOTOR_STOP = 0, // Currently not implemented - STOP Motors
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DSHOT_CMD_BEEP1, // Wait at least length of beep (380ms) before next command
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DSHOT_CMD_BEEP2, // Wait at least length of beep (380ms) before next command
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DSHOT_CMD_BEEP3, // Wait at least length of beep (400ms) before next command
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DSHOT_CMD_BEEP4, // Wait at least length of beep (400ms) before next command
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DSHOT_CMD_BEEP5, // Wait at least length of beep (400ms) before next command
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DSHOT_CMD_ESC_INFO, // Currently not implemented
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DSHOT_CMD_SPIN_DIRECTION_1, // Need 6x, no wait required
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DSHOT_CMD_SPIN_DIRECTION_2, // Need 6x, no wait required
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DSHOT_CMD_3D_MODE_OFF, // Need 6x, no wait required
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DSHOT_CMD_3D_MODE_ON, // Need 6x, no wait required
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DSHOT_CMD_SETTINGS_REQUEST, // Currently not implemented
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DSHOT_CMD_SAVE_SETTINGS, // Need 6x, wait at least 12ms before next command
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DSHOT_CMD_SPIN_DIRECTION_NORMAL, // Need 6x, no wait required
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DSHOT_CMD_SPIN_DIRECTION_REVERSED, // Need 6x, no wait required
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DSHOT_CMD_LED0_ON, // Currently not implemented
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DSHOT_CMD_LED1_ON, // Currently not implemented
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DSHOT_CMD_LED2_ON, // Currently not implemented
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DSHOT_CMD_LED3_ON, // Currently not implemented
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DSHOT_CMD_LED0_OFF, // Currently not implemented
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DSHOT_CMD_LED1_OFF, // Currently not implemented
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DSHOT_CMD_LED2_OFF, // Currently not implemented
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DSHOT_CMD_LED3_OFF, // Currently not implemented
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DSHOT_CMD_MOTOR_STOP = 0, // Currently not implemented - STOP Motors
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DSHOT_CMD_BEEP1, // Wait at least length of beep (380ms) before next command
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DSHOT_CMD_BEEP2, // Wait at least length of beep (380ms) before next command
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DSHOT_CMD_BEEP3, // Wait at least length of beep (400ms) before next command
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DSHOT_CMD_BEEP4, // Wait at least length of beep (400ms) before next command
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DSHOT_CMD_BEEP5, // Wait at least length of beep (400ms) before next command
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DSHOT_CMD_ESC_INFO, // Currently not implemented
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DSHOT_CMD_SPIN_DIRECTION_1, // Need 6x, no wait required
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DSHOT_CMD_SPIN_DIRECTION_2, // Need 6x, no wait required
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DSHOT_CMD_3D_MODE_OFF, // Need 6x, no wait required
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DSHOT_CMD_3D_MODE_ON, // Need 6x, no wait required
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DSHOT_CMD_SETTINGS_REQUEST, // Currently not implemented
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DSHOT_CMD_SAVE_SETTINGS, // Need 6x, wait at least 12ms before next command
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DSHOT_CMD_SPIN_DIRECTION_NORMAL, // Need 6x, no wait required
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DSHOT_CMD_SPIN_DIRECTION_REVERSED, // Need 6x, no wait required
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DSHOT_CMD_LED0_ON, // Currently not implemented
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DSHOT_CMD_LED1_ON, // Currently not implemented
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DSHOT_CMD_LED2_ON, // Currently not implemented
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DSHOT_CMD_LED3_ON, // Currently not implemented
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DSHOT_CMD_LED0_OFF, // Currently not implemented
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DSHOT_CMD_LED1_OFF, // Currently not implemented
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DSHOT_CMD_LED2_OFF, // Currently not implemented
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DSHOT_CMD_LED3_OFF, // Currently not implemented
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DSHOT_CMD_36, // Not yet assigned
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DSHOT_CMD_37, // Not yet assigned
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DSHOT_CMD_38, // Not yet assigned
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DSHOT_CMD_39, // Not yet assigned
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DSHOT_CMD_40, // Not yet assigned
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DSHOT_CMD_41, // Not yet assigned
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DSHOT_CMD_SIGNAL_LINE_TEMPERATURE_TELEMETRY, // No wait required
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DSHOT_CMD_SIGNAL_LINE_VOLTAGE_TELEMETRY, // No wait required
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DSHOT_CMD_SIGNAL_LINE_CURRENT_TELEMETRY, // No wait required
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DSHOT_CMD_SIGNAL_LINE_CONSUMPTION_TELEMETRY, // No wait required
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DSHOT_CMD_SIGNAL_LINE_ERPM_TELEMETRY, // No wait required
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DSHOT_CMD_SIGNAL_LINE_ERPM_PERIOD_TELEMETRY, // No wait required (also command 47)
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DSHOT_CMD_MAX = 47
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} dshot_cmd_t;
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// ...Mapping for GCR
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static const unsigned char GCR_encode[16] =
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{
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0x19, 0x1B, 0x12, 0x13,
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0x1D, 0x15, 0x16, 0x17,
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0x1A, 0x09, 0x0A, 0x0B,
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0x1E, 0x0D, 0x0E, 0x0F};
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// ...shifting 5 bits > 4 bits (0xff => invalid)
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static const unsigned char GCR_decode[32] =
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{
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0xFF, 0xFF, 0xFF, 0xFF, // 0 - 3
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0xFF, 0xFF, 0xFF, 0xFF, // 4 - 7
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0xFF, 9, 10, 11, // 8 - 11
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0xFF, 13, 14, 15, // 12 - 15
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0xFF, 0xFF, 2, 3, // 16 - 19
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0xFF, 5, 6, 7, // 20 - 23
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0xFF, 0, 8, 1, // 24 - 27
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0xFF, 4, 12, 0xFF, // 28 - 31
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};
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// The main DShotRMT class
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class DShotRMT
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{
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@ -121,6 +166,7 @@ public:
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// Constructor for the DShotRMT class
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DShotRMT(gpio_num_t gpio, rmt_channel_t rmtChannel);
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DShotRMT(uint8_t pin, uint8_t channel);
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DShotRMT(uint8_t pin);
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// Destructor for the DShotRMT class
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~DShotRMT();
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