Add Web Server
- fix warnings and update action versions - Web Server added in example - prepare release 0.7.5
This commit is contained in:
Wastl Kraus
parent
8783b1a24b
commit
7f102ac9bb
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@ -36,7 +36,7 @@ jobs:
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library-manager: update
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verbose: true
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# ============================================================================
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# ============================================================================
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# Compilation Test
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# ============================================================================
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compile-test:
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@ -50,28 +50,29 @@ jobs:
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examples:
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- "examples/dshot300/dshot300.ino"
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- "examples/command_manager/command_manager.ino"
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- "examples/web_control/web_control.ino"
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steps:
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- name: Checkout Repository
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uses: actions/checkout@v5
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- name: Compile Example Sketches
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uses: arduino/compile-sketches@v1
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with:
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fqbn: esp32:esp32:esp32
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platforms: |
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- name: esp32:esp32
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source-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
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libraries: |
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# Install the library from the local path.
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- name: ArduinoJson
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- name: Async TCP
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- name: ESP Async WebServer
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- name: WiFi
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- source-path: ./
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sketch-paths: ${{ matrix.examples}}
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cli-compile-flags: |
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- --warnings="none"
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- name: Setup Arduino CLI
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uses: arduino/setup-arduino-cli@v2
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- name: Install ESP32 Core and Dependencies
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run: |
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arduino-cli core update-index
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arduino-cli core install esp32:esp32
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arduino-cli lib install "ArduinoJson"
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# Workround for ESPAsyncWebServer
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git clone https://github.com/ESP32Async/ESPAsyncWebServer ~/Arduino/libraries/ESPAsyncWebServer
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git clone https://github.com/ESP32Async/AsyncTCP ~/Arduino/libraries/AsyncTCP
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- name: Compile Sketch
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run: |
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arduino-cli compile --fqbn esp32:esp32:esp32 --library ${{ github.workspace }} ${{ matrix.examples}}
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# ============================================================================
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# Build Status Report
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@ -13,13 +13,11 @@
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# Built Visual Studio Code Extensions
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*.vsix
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# Caching ESP32 Builds
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# Builds
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*.code-workspace
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buildCache
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build
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examples/dshot300/debug.cfg
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examples/dshot300/esp32.svd
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examples/dshot300/debug_custom.json
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examples/dshot300/debug.svd
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/build
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/.github/chatmodes
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web/control.html
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228
DShotRMT.h
228
DShotRMT.h
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@ -6,231 +6,5 @@
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* @license MIT
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*/
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#pragma once
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#include "src/DShotRMT.h"
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#include <Arduino.h>
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#include <dshot_commands.h>
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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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// DShot Protocol Constants
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static constexpr auto DSHOT_THROTTLE_FAILSAFE = 0;
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static constexpr auto DSHOT_THROTTLE_MIN = 48;
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static constexpr auto DSHOT_THROTTLE_MAX = 2047;
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static constexpr auto DSHOT_BITS_PER_FRAME = 16;
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static constexpr auto DSHOT_PAUSE_US = 30; // Additional frame pause time
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static constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000;
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static constexpr auto DSHOT_FULL_PACKET = 0b1111111111111111;
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static constexpr auto DSHOT_CRC_MASK = 0b0000000000001111;
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static constexpr auto DSHOT_RX_TIMEOUT_MS = 2; // Never reached, just a timeeout
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static constexpr auto GCR_BITS_PER_FRAME = 21; // Number of GCR bits in a DShot answer frame (1 start + 16 data + 4 CRC)
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static constexpr auto DEFAULT_MOTOR_MAGNET_COUNT = 14;
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static constexpr auto MAGNETS_PER_POLE_PAIR = 2;
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static constexpr auto MIN_POLE_PAIRS = 1;
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static constexpr auto NO_DSHOT_ERPM = 0;
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static constexpr auto NO_DSHOT_RPM = 0;
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// RMT Configuration Constants
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constexpr auto DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
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constexpr auto DSHOT_RMT_RESOLUTION = 10 * 1000 * 1000; // 10 MHz resolution
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constexpr auto RMT_BUFFER_SIZE = DSHOT_BITS_PER_FRAME;
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constexpr auto RMT_BUFFER_SYMBOLS = 64;
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constexpr auto RMT_QUEUE_DEPTH = 1;
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// Smallest pulse for DShot1200 is 2us. Largest for DShot150 is 40us.
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// The range is set from 3us (3000ns) to 60us (60000ns) to be safe across all modes.
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constexpr uint32_t DSHOT_PULSE_MIN = 3000;
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constexpr uint32_t DSHOT_PULSE_MAX = 60000;
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// DShot Modes
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typedef enum
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{
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DSHOT_OFF,
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DSHOT150,
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DSHOT300,
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DSHOT600,
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DSHOT1200
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} dshot_mode_t;
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// DShot Packet
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typedef struct
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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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uint16_t checksum : 4;
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} dshot_packet_t;
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// DShot Timing Configuration
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typedef struct
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{
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uint32_t frame_length_us;
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uint16_t ticks_per_bit;
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uint16_t ticks_one_high;
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uint16_t ticks_one_low;
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uint16_t ticks_zero_high;
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uint16_t ticks_zero_low;
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} dshot_timing_t;
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// Error handling
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typedef struct
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{
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bool success;
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const char *msg;
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} dshot_result_t;
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// DShot telemetry result
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typedef struct
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{
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bool success;
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uint16_t erpm;
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uint16_t motor_rpm;
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const char *msg;
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} dshot_telemetry_result_t;
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// Naming convention
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typedef dshotCommands_e dshot_commands_t;
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// --- HELPERS ---
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void printDShotResult(dshot_result_t &result, Stream &output = Serial);
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void printDShotTelemetry(dshot_telemetry_result_t &result, Stream &output = Serial);
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//
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class DShotRMT
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{
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public:
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// Constructor with GPIO enum
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explicit DShotRMT(gpio_num_t gpio = GPIO_NUM_16, dshot_mode_t mode = DSHOT300, bool is_bidirectional = false);
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// Constructor with pin number
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DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional);
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// Destructor for "better" code
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~DShotRMT();
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// Initialize the RMT module and DShot config
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dshot_result_t begin();
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// Send throttle value (48-2047)
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dshot_result_t sendThrottle(uint16_t throttle);
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// Send DShot command (0-47)
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dshot_result_t sendCommand(uint16_t command);
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// --- GETTERS ---
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gpio_num_t getGPIO() const { return _gpio; }
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uint16_t getDShotPacket() const { return _parsed_packet; }
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bool is_bidirectional() const { return _is_bidirectional; }
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dshot_mode_t getMode() const { return _mode; }
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dshot_telemetry_result_t getTelemetry(uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT);
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// --- INFO ---
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void printDShotInfo(Stream &output = Serial) const;
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void printCpuInfo(Stream &output = Serial) const;
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// --- DEPRECATED METHODS ---
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[[deprecated("Use sendThrottle() instead")]]
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bool setThrottle(uint16_t throttle)
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{
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auto result = sendThrottle(throttle);
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return result.success;
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}
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[[deprecated("Use sendCommand() instead")]]
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bool sendDShotCommand(uint16_t command)
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{
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auto result = sendCommand(command);
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return result.success;
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}
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[[deprecated("Use getTelemetry() instead")]]
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uint32_t getMotorRPM(uint8_t magnet_count)
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{
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auto result = getTelemetry(magnet_count);
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return result.success;
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}
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private:
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// --- CONFIG ---
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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_timer_us;
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const dshot_timing_t &_timing_config;
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uint16_t _last_throttle;
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// --- TIMING & PACKET VARIABLES ---
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uint64_t _last_transmission_time;
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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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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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rmt_channel_handle_t _rmt_rx_channel;
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rmt_encoder_handle_t _dshot_encoder;
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// --- RMT CONFIG STRUCTURES ---
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rmt_tx_channel_config_t _tx_channel_config;
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rmt_rx_channel_config_t _rx_channel_config;
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rmt_transmit_config_t _transmit_config;
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rmt_receive_config_t _receive_config;
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// --- INITS ---
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dshot_result_t _initTXChannel();
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dshot_result_t _initRXChannel();
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dshot_result_t _initDShotEncoder();
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// --- PACKET MANAGEMENT ---
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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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uint16_t _calculateCRC(const uint16_t data);
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void _preCalculateBitPositions();
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// --- FRAME PROCESSING ---
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dshot_result_t _sendDShotFrame(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);
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// --- TIMING CONTROL ---
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bool IRAM_ATTR _timer_signal();
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bool _timer_reset();
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// -- CALLBACKS ---
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rmt_rx_event_callbacks_t _rx_event_callbacks;
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volatile rmt_symbol_word_t _rx_symbols_direct[GCR_BITS_PER_FRAME];
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volatile uint16_t _last_erpm_atomic;
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volatile bool _telemetry_ready_flag;
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static bool IRAM_ATTR _rmt_rx_done_callback(rmt_channel_handle_t rmt_rx_channel, const rmt_rx_done_event_data_t *edata, void *user_data);
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// --- DSHOT DEFAULTS ---
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static constexpr auto const DSHOT_TELEMETRY_INVALID = (0xffff);
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// --- CONSTANTS & ERROR MESSAGES ---
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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 const *NONE = "";
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static constexpr char const *UNKNOWN_ERROR = "Unknown Error!";
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static constexpr char const *INIT_SUCCESS = "SignalGeneratorRMT initialized successfully";
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static constexpr char const *INIT_FAILED = "SignalGeneratorRMT init failed!";
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static constexpr char const *TX_INIT_SUCCESS = "TX RMT channel initialized successfully";
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static constexpr char const *TX_INIT_FAILED = "TX RMT channel init failed!";
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static constexpr char const *RX_INIT_SUCCESS = "RX RMT channel initialized successfully";
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static constexpr char const *RX_INIT_FAILED = "RX RMT channel init failed!";
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static constexpr char const *RX_BUFFER_FAILED = "RX RMT buffer init failed!";
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static constexpr char const *ENCODER_INIT_SUCCESS = "RMT encoder initialized successfully";
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static constexpr char const *ENCODER_INIT_FAILED = "RMT encoder init failed!";
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static constexpr char const *TRANSMISSION_SUCCESS = "Transmission successfully";
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static constexpr char const *TRANSMISSION_FAILED = "Transmission failed!";
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static constexpr char const *RECEIVER_FAILED = "RMT receiver failed!";
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static constexpr char const *THROTTLE_NOT_IN_RANGE = "Throttle not in range! (48 - 2047)";
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static constexpr char const *COMMAND_NOT_VALID = "Command not valid! (0 - 47)";
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static constexpr char const *BIDIR_NOT_ENABLED = "Bidirectional DShot not enabled!";
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static constexpr char const *TELEMETRY_SUCCESS = "Valid Telemetric Frame received!";
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static constexpr char const *TELEMETRY_FAILED = "No valid Telemetric Frame received!";
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static constexpr char const *INVALID_MAGNET_COUNT = "Invalid motor magnet count!";
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static constexpr char const *TIMING_CORRECTION = "Timing correction!";
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};
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150
README.md
150
README.md
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@ -4,7 +4,8 @@
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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, 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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**Now with BiDirectional DShot support, advanced command management, and modern web control interface!**
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> The legacy version (using the old `rmt.h` API) is still available in the `oldAPI` branch.
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@ -14,8 +15,11 @@ Supports all standard DShot modes (150, 300, 600, 1200) and features continuous
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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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- **Web Control Interface:** Modern responsive web UI with WiFi access point
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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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- **Safety Features:** Arming/disarming system with motor lockout protection
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- **Dual Control Options:** Web interface and serial console control
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- **Real-time Telemetry:** Live RPM monitoring and data display
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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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@ -46,6 +50,25 @@ lib_deps =
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git clone https://github.com/derdoktor667/DShotRMT.git
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```
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### Dependencies
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The library requires these additional libraries for full functionality:
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**Core DShotRMT (always required):**
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- ESP32 Arduino Core
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**Web Interface Example (dshot300.ino):**
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```ini
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lib_deps =
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https://github.com/derdoktor667/DShotRMT
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bblanchon/ArduinoJson
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https://github.com/ESP32Async/ESPAsyncWebServer
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https://github.com/ESP32Async/AsyncTCP ~/Arduino/libraries/AsyncTCP
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```
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**Command Manager Example:**
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- No additional dependencies required
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---
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## ⚡ Quick Start
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@ -79,6 +102,64 @@ void loop() {
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}
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```
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### Web Control Interface
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```cpp
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#include <DShotRMT.h>
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#include <WiFi.h>
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#include <ESPAsyncWebServer.h>
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DShotRMT motor(17, DSHOT300, false);
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AsyncWebServer server(80);
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AsyncWebSocket ws("/ws");
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void setup() {
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// Initialize motor
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motor.begin();
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// Create WiFi Access Point
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WiFi.softAP("DShotRMT Control", "12345678");
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// Setup web interface
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ws.onEvent(onWsEvent);
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server.addHandler(&ws);
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server.on("/", HTTP_GET, [](AsyncWebServerRequest *request) {
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request->send_P(200, "text/html", index_html);
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});
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server.begin();
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// Access at http://10.10.10.1
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}
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void loop() {
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// Handle WebSocket communication and motor control
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ws.cleanupClients();
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}
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```
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### Advanced Command Management
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||||
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```cpp
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#include <DShotRMT.h>
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#include <DShotCommandManager.h>
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DShotRMT motor(17, DSHOT300, false);
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DShotCommandManager cmdManager(motor);
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void setup() {
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motor.begin();
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cmdManager.begin();
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}
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void loop() {
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// High-level ESC control
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cmdManager.stopMotor();
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cmdManager.activateBeacon(1);
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cmdManager.setSpinDirection(false);
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cmdManager.executeInitSequence();
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}
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```
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### Bidirectional DShot (RPM Telemetry)
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```cpp
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@ -108,15 +189,59 @@ void loop() {
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---
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## 🌐 Web Control Interface
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The DShotRMT library now includes a modern web interface for wireless motor control:
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### Features
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- **Responsive Design:** Works on mobile phones, tablets, and desktop computers
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- **WiFi Access Point:** Creates hotspot "DShotRMT Control" (Password: 12345678)
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- **Safety System:** Arming/disarming switch prevents accidental motor activation
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- **Real-time Control:** Instant throttle response via WebSocket communication
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- **Live Telemetry:** Real-time RPM display (bidirectional mode only)
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- **Auto-reconnect:** Automatically reconnects on connection loss
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||||
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### Web Interface Access
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1. Connect to WiFi network: **"DShotRMT Control"**
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2. Password: **12345678**
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3. Open browser and navigate to: **http://10.10.10.1**
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### Safety Features
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- Motor control is **disabled by default** (disarmed state)
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- Toggle the **ARMING SWITCH** to enable motor control
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- Throttle slider is **locked** when disarmed
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||||
- **Emergency stop** resets all values to safe state
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### Technical Implementation
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- **AsyncWebServer** for HTTP requests
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- **WebSocket** communication for real-time data
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||||
- **JSON** message format for data exchange
|
||||
- **WiFi SoftAP** mode for standalone operation
|
||||
- **Automatic client cleanup** prevents memory leaks
|
||||
|
||||
### ⚠️ Known Issus
|
||||
Make sure you are using these libraries for [ESPAsyncWebServer](https://github.com/ESP32Async/ESPAsyncWebServer) and [AsyncTCP](https://github.com/ESP32Async/AsyncTCP) to use "web_control.ino" example sketch.
|
||||
|
||||
---
|
||||
|
||||
## 📚 Examples
|
||||
|
||||
The library includes comprehensive examples:
|
||||
|
||||
### 1. Basic DShot Control (`dshot300.ino`)
|
||||
- Simple throttle control
|
||||
- Command execution
|
||||
- Serial interface for testing
|
||||
- Telemetry reading (if bidirectional enabled)
|
||||
### 1. Basic DShot Control with Web Interface (`dshot300.ino`)
|
||||
- **Web Control Interface:** Modern responsive web UI accessible at `http://10.10.10.1`
|
||||
- **WiFi Access Point:** Creates hotspot "DShotRMT Control" for wireless control
|
||||
- **Safety Features:** Arming/disarming system with motor safety lockout
|
||||
- **Real-time Data:** Live RPM telemetry display (bidirectional mode)
|
||||
- **Dual Control:** Both web interface and serial console control
|
||||
- **WebSocket Communication:** Real-time bidirectional data exchange
|
||||
|
||||
**Web Interface Features:**
|
||||
- Responsive design optimized for mobile and desktop
|
||||
- Visual arming switch with safety lockout
|
||||
- Smooth throttle slider with real-time feedback
|
||||
- Live RPM monitoring display
|
||||
- Automatic reconnection on connection loss
|
||||
|
||||
### 2. Advanced Command Management (`command_manager.ino`)
|
||||
Interactive ESC control with full menu system:
|
||||
|
|
@ -143,12 +268,11 @@ Advanced Commands:
|
|||
|
||||
### Supported DShot Modes
|
||||
|
||||
| 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 |
|
||||
| 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 |
|
||||
|
||||
### GPIO Configuration
|
||||
```cpp
|
||||
|
|
|
|||
|
|
@ -2,31 +2,19 @@
|
|||
* @file dshot300.ino
|
||||
* @brief Demo sketch for DShotRMT library
|
||||
* @author Wastl Kraus
|
||||
* @date 2025-09-09
|
||||
* @date 2025-06-11
|
||||
* @license MIT
|
||||
*/
|
||||
|
||||
#include <Arduino.h>
|
||||
#include <DShotRMT.h>
|
||||
#include "web/web_content.h"
|
||||
#include <WiFi.h>
|
||||
#include <AsyncTCP.h>
|
||||
#include <ESPAsyncWebServer.h>
|
||||
#include <ArduinoJson.h>
|
||||
|
||||
// Wifi Configuration
|
||||
static constexpr auto *ssid = "DShotRMT Control";
|
||||
static constexpr auto *password = "12345678";
|
||||
|
||||
IPAddress local_IP(10, 10, 10, 1);
|
||||
IPAddress gateway(0, 0, 0, 0);
|
||||
IPAddress subnet(255, 255, 255, 0);
|
||||
|
||||
// USB serial port settings
|
||||
static constexpr auto &USB_SERIAL = Serial;
|
||||
static constexpr auto &USB_SERIAL = Serial0;
|
||||
static constexpr auto USB_SERIAL_BAUD = 115200;
|
||||
|
||||
// Motor configuration - Pin number or GPIO_PIN
|
||||
// static constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_17;
|
||||
static constexpr auto MOTOR01_PIN = 17;
|
||||
|
||||
// Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
|
||||
|
|
@ -41,95 +29,59 @@ static constexpr auto MOTOR01_MAGNET_COUNT = 14;
|
|||
// Creates the motor instance
|
||||
DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE, IS_BIDIRECTIONAL);
|
||||
|
||||
// Web Server Configuration
|
||||
AsyncWebServer server(80);
|
||||
AsyncWebSocket ws("/ws");
|
||||
|
||||
// Global variables
|
||||
static uint16_t throttle = DSHOT_CMD_MOTOR_STOP;
|
||||
static bool isArmed = false;
|
||||
static bool continuous_throttle = true;
|
||||
|
||||
// Helpers (forward declaration)
|
||||
void printMenu();
|
||||
void handleSerialInput(const String &input);
|
||||
void handleWebSocketMessage(void *arg, uint8_t *data, size_t len);
|
||||
void onWsEvent(AsyncWebSocket *server, AsyncWebSocketClient *client, AwsEventType type, void *arg, uint8_t *data, size_t len);
|
||||
void setArmingStatus(bool armed);
|
||||
|
||||
//
|
||||
void setup()
|
||||
{
|
||||
// Starts the USB Serial Port
|
||||
USB_SERIAL.begin(USB_SERIAL_BAUD);
|
||||
|
||||
// Initialize DShot Signal
|
||||
motor01.begin();
|
||||
|
||||
// Print CPU Info
|
||||
motor01.printCpuInfo();
|
||||
|
||||
// Set IP Address
|
||||
WiFi.softAPConfig(local_IP, gateway, subnet);
|
||||
|
||||
// Start Wifi Access Point
|
||||
USB_SERIAL.println("\nStarting Access Point...");
|
||||
WiFi.softAP(ssid, password);
|
||||
|
||||
IPAddress IP = WiFi.softAPIP();
|
||||
|
||||
USB_SERIAL.print("Access Point IP address: ");
|
||||
USB_SERIAL.println(IP);
|
||||
|
||||
// Init WebSockets and Webserver
|
||||
USB_SERIAL.println("\nStarting Webserver...");
|
||||
ws.onEvent(onWsEvent);
|
||||
server.addHandler(&ws);
|
||||
|
||||
server.on("/", HTTP_GET, [](AsyncWebServerRequest *request)
|
||||
{ request->send_P(200, "text/html", index_html); });
|
||||
|
||||
server.begin();
|
||||
USB_SERIAL.println("HTTP server started.");
|
||||
|
||||
// Initialize with disarmed state
|
||||
setArmingStatus(false);
|
||||
|
||||
//
|
||||
printMenu();
|
||||
}
|
||||
|
||||
//
|
||||
void loop()
|
||||
{
|
||||
static uint64_t last_stats_update = 0;
|
||||
static uint64_t last_serial_update = 0;
|
||||
// Safety first
|
||||
static uint16_t throttle = DSHOT_CMD_MOTOR_STOP;
|
||||
static bool continuous_throttle = true;
|
||||
|
||||
// Time Measurement
|
||||
static uint64_t last_stats_print = 0;
|
||||
|
||||
// Handle serial input
|
||||
if (USB_SERIAL.available() > 0)
|
||||
{
|
||||
String input = USB_SERIAL.readStringUntil('\n');
|
||||
input.trim();
|
||||
|
||||
if (input.length() > 0)
|
||||
{
|
||||
handleSerialInput(input);
|
||||
handleSerialInput(input, throttle, continuous_throttle);
|
||||
}
|
||||
}
|
||||
|
||||
// Send throttle value only if armed and continuous mode is enabled
|
||||
if (isArmed && continuous_throttle && throttle > 0)
|
||||
// Send throttle value in continuous mode
|
||||
if (continuous_throttle)
|
||||
{
|
||||
motor01.sendThrottle(throttle);
|
||||
}
|
||||
else if (!isArmed && continuous_throttle)
|
||||
{
|
||||
// Ensure motor is stopped when disarmed
|
||||
motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
|
||||
}
|
||||
|
||||
// Print motor stats every 3 seconds in continuous mode
|
||||
if ((esp_timer_get_time() - last_serial_update >= 3000000))
|
||||
if (continuous_throttle && (esp_timer_get_time() - last_stats_print >= 3000000))
|
||||
{
|
||||
motor01.printDShotInfo();
|
||||
|
||||
USB_SERIAL.println(" ");
|
||||
|
||||
// Get Motor RPM if bidirectional and armed
|
||||
if (IS_BIDIRECTIONAL && isArmed)
|
||||
// Get Motor RPM if bidirectional
|
||||
if (IS_BIDIRECTIONAL)
|
||||
{
|
||||
dshot_telemetry_result_t telem_result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT);
|
||||
printDShotTelemetry(telem_result);
|
||||
|
|
@ -138,55 +90,7 @@ void loop()
|
|||
USB_SERIAL.println("Type 'help' to show Menu");
|
||||
|
||||
// Time Stamp
|
||||
last_serial_update = esp_timer_get_time();
|
||||
}
|
||||
|
||||
// Update Webserver data every second
|
||||
if (esp_timer_get_time() - last_stats_update >= 1000000)
|
||||
{
|
||||
last_stats_update = esp_timer_get_time();
|
||||
|
||||
JsonDocument doc;
|
||||
doc["throttle"] = isArmed ? throttle : 0;
|
||||
doc["armed"] = isArmed;
|
||||
|
||||
if (IS_BIDIRECTIONAL && isArmed)
|
||||
{
|
||||
dshot_telemetry_result_t telem_result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT);
|
||||
doc["rpm"] = telem_result.motor_rpm;
|
||||
}
|
||||
else
|
||||
{
|
||||
doc["rpm"] = "N/A";
|
||||
}
|
||||
|
||||
String json_output;
|
||||
serializeJson(doc, json_output);
|
||||
|
||||
// Update clients with the new data
|
||||
ws.textAll(json_output);
|
||||
}
|
||||
|
||||
ws.cleanupClients();
|
||||
}
|
||||
|
||||
//
|
||||
void setArmingStatus(bool armed)
|
||||
{
|
||||
isArmed = armed;
|
||||
|
||||
if (!armed)
|
||||
{
|
||||
// Safety: Stop motor and reset throttle when disarming
|
||||
throttle = 0;
|
||||
continuous_throttle = false;
|
||||
motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.println("=== MOTOR DISARMED - SAFETY STOP EXECUTED ===");
|
||||
}
|
||||
else
|
||||
{
|
||||
continuous_throttle = true;
|
||||
last_stats_print = esp_timer_get_time();
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -194,74 +98,50 @@ void setArmingStatus(bool armed)
|
|||
void printMenu()
|
||||
{
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.println("***********************************************");
|
||||
USB_SERIAL.println(" --- DShotRMT Demo & Web UI --- ");
|
||||
USB_SERIAL.println("***********************************************");
|
||||
USB_SERIAL.println(" Web Config: http://10.10.10.1 ");
|
||||
USB_SERIAL.println("***********************************************");
|
||||
USB_SERIAL.println(" arm - Arm motor");
|
||||
USB_SERIAL.println(" disarm - Disarm motor (safety)");
|
||||
USB_SERIAL.println(" <value> - Set throttle (48 – 2047)");
|
||||
USB_SERIAL.println(" 0 - Stop motor");
|
||||
USB_SERIAL.println("***********************************************");
|
||||
USB_SERIAL.println(" cmd <number> - Send DShot command (0 - 47)");
|
||||
USB_SERIAL.println(" info - Show motor info");
|
||||
USB_SERIAL.println("*******************************************");
|
||||
USB_SERIAL.println(" DShotRMT Demo ");
|
||||
USB_SERIAL.println("*******************************************");
|
||||
USB_SERIAL.println(" <value> - Set throttle (48 – 2047)");
|
||||
USB_SERIAL.println(" 0 - Stop motor");
|
||||
USB_SERIAL.println("*******************************************");
|
||||
USB_SERIAL.println(" cmd <number> - Send DShot command (0 - 47)");
|
||||
USB_SERIAL.println(" info - Show motor info");
|
||||
if (IS_BIDIRECTIONAL)
|
||||
{
|
||||
USB_SERIAL.println(" rpm - Get telemetry data");
|
||||
USB_SERIAL.println(" rpm - Get telemetry data");
|
||||
}
|
||||
USB_SERIAL.println("***********************************************");
|
||||
USB_SERIAL.println(" h / help - Show this Menu");
|
||||
USB_SERIAL.println("***********************************************");
|
||||
USB_SERIAL.printf(" Current Status: %s\n", isArmed ? "ARMED" : "DISARMED");
|
||||
USB_SERIAL.println("***********************************************");
|
||||
USB_SERIAL.println("*******************************************");
|
||||
USB_SERIAL.println(" h / help - Show this Menu");
|
||||
USB_SERIAL.println("*******************************************");
|
||||
}
|
||||
|
||||
// Handle serial inputs and updates global variables
|
||||
void handleSerialInput(const String &input)
|
||||
//
|
||||
void handleSerialInput(const String &input, uint16_t &throttle, bool &continuous_throttle)
|
||||
{
|
||||
if (input == "arm")
|
||||
{
|
||||
setArmingStatus(true);
|
||||
}
|
||||
else if (input == "disarm")
|
||||
{
|
||||
setArmingStatus(false);
|
||||
}
|
||||
else if (input == "0")
|
||||
if (input == "0")
|
||||
{
|
||||
// Stop motor
|
||||
throttle = 0;
|
||||
continuous_throttle = false;
|
||||
continuous_throttle = true;
|
||||
dshot_result_t result = motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
|
||||
printDShotResult(result);
|
||||
}
|
||||
else if (input == "info")
|
||||
{
|
||||
motor01.printDShotInfo();
|
||||
USB_SERIAL.printf("Arming Status: %s\n", isArmed ? "ARMED" : "DISARMED");
|
||||
}
|
||||
else if (input == "rpm" && IS_BIDIRECTIONAL)
|
||||
{
|
||||
if (isArmed)
|
||||
{
|
||||
dshot_telemetry_result_t result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT);
|
||||
printDShotTelemetry(result);
|
||||
}
|
||||
else
|
||||
{
|
||||
USB_SERIAL.println("Cannot read RPM - Motor is DISARMED");
|
||||
}
|
||||
dshot_telemetry_result_t result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT);
|
||||
printDShotTelemetry(result);
|
||||
}
|
||||
else if (input.startsWith("cmd "))
|
||||
{
|
||||
if (!isArmed)
|
||||
{
|
||||
USB_SERIAL.println("Cannot send command - Motor is DISARMED. Use 'arm' command first.");
|
||||
return;
|
||||
}
|
||||
|
||||
continuous_throttle = false;
|
||||
|
||||
// Send DShot command
|
||||
int cmd_num = input.substring(4).toInt();
|
||||
|
||||
if (cmd_num >= DSHOT_CMD_MOTOR_STOP && cmd_num <= DSHOT_CMD_MAX)
|
||||
{
|
||||
dshot_result_t result = motor01.sendCommand(cmd_num);
|
||||
|
|
@ -276,127 +156,24 @@ void handleSerialInput(const String &input)
|
|||
{
|
||||
printMenu();
|
||||
}
|
||||
else if (input == "status")
|
||||
{
|
||||
USB_SERIAL.printf("Arming Status: %s\n", isArmed ? "ARMED" : "DISARMED");
|
||||
USB_SERIAL.printf("Current Throttle: %u\n", throttle);
|
||||
USB_SERIAL.printf("Continuous Mode: %s\n", continuous_throttle ? "ACTIVE" : "INACTIVE");
|
||||
}
|
||||
else
|
||||
{
|
||||
// Parse input throttle value
|
||||
int throttle_value = input.toInt();
|
||||
|
||||
if (throttle_value >= DSHOT_THROTTLE_MIN && throttle_value <= DSHOT_THROTTLE_MAX)
|
||||
{
|
||||
if (!isArmed)
|
||||
{
|
||||
USB_SERIAL.println("Cannot set throttle - Motor is DISARMED. Use 'arm' command first.");
|
||||
return;
|
||||
}
|
||||
|
||||
throttle = throttle_value;
|
||||
continuous_throttle = true;
|
||||
|
||||
dshot_result_t result = motor01.sendThrottle(throttle);
|
||||
|
||||
if (result.success)
|
||||
{
|
||||
USB_SERIAL.printf("Throttle set to %u (continuous mode active)\n", throttle);
|
||||
}
|
||||
}
|
||||
else if (throttle_value == 0)
|
||||
{
|
||||
throttle = 0;
|
||||
continuous_throttle = false;
|
||||
dshot_result_t result = motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
|
||||
printDShotResult(result);
|
||||
}
|
||||
else
|
||||
{
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.printf("Invalid input: '%s'\n", input.c_str());
|
||||
USB_SERIAL.printf("Invalid input: '%s'\n", input);
|
||||
USB_SERIAL.printf("Valid throttle range: %d - %d\n", DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX);
|
||||
USB_SERIAL.println("Use 'arm' to enable motor control");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Websocket request processing
|
||||
void handleWebSocketMessage(void *arg, uint8_t *data, size_t len)
|
||||
{
|
||||
JsonDocument doc;
|
||||
DeserializationError error = deserializeJson(doc, data, len);
|
||||
|
||||
if (error)
|
||||
{
|
||||
USB_SERIAL.print(F("deserializeJson() failed: "));
|
||||
USB_SERIAL.println(error.c_str());
|
||||
return;
|
||||
}
|
||||
|
||||
// Handle arming status
|
||||
if (doc.containsKey("armed"))
|
||||
{
|
||||
bool armed = doc["armed"];
|
||||
setArmingStatus(armed);
|
||||
}
|
||||
|
||||
// Handle throttle value (only if armed)
|
||||
if (doc.containsKey("throttle") && isArmed)
|
||||
{
|
||||
uint16_t web_throttle = doc["throttle"];
|
||||
|
||||
// Check for valid throttle value
|
||||
if (web_throttle == 0)
|
||||
{
|
||||
throttle = 0;
|
||||
continuous_throttle = false;
|
||||
motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
|
||||
}
|
||||
else if (web_throttle >= DSHOT_THROTTLE_MIN && web_throttle <= DSHOT_THROTTLE_MAX)
|
||||
{
|
||||
throttle = web_throttle;
|
||||
continuous_throttle = true;
|
||||
}
|
||||
}
|
||||
else if (doc.containsKey("throttle") && !isArmed)
|
||||
{
|
||||
throttle = 0;
|
||||
continuous_throttle = false;
|
||||
// Ignore throttle commands when disarmed
|
||||
USB_SERIAL.println("Web throttle command ignored - Motor is DISARMED");
|
||||
}
|
||||
}
|
||||
|
||||
// Websocket request handler
|
||||
void onWsEvent(AsyncWebSocket *server, AsyncWebSocketClient *client, AwsEventType type, void *arg, uint8_t *data, size_t len)
|
||||
{
|
||||
switch (type)
|
||||
{
|
||||
case WS_EVT_CONNECT:
|
||||
USB_SERIAL.printf("Web Client #%u connected from %s\n", client->id(), client->remoteIP().toString().c_str());
|
||||
|
||||
// Send current arming status to new client
|
||||
{
|
||||
JsonDocument doc;
|
||||
doc["armed"] = isArmed;
|
||||
doc["throttle"] = isArmed ? throttle : 0;
|
||||
String json_output;
|
||||
serializeJson(doc, json_output);
|
||||
client->text(json_output);
|
||||
}
|
||||
break;
|
||||
|
||||
case WS_EVT_DISCONNECT:
|
||||
USB_SERIAL.printf("Web Client #%u disconnected\n", client->id());
|
||||
break;
|
||||
|
||||
case WS_EVT_DATA:
|
||||
handleWebSocketMessage(arg, data, len);
|
||||
break;
|
||||
|
||||
case WS_EVT_PONG:
|
||||
case WS_EVT_ERROR:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -0,0 +1,433 @@
|
|||
/**
|
||||
* @file dshot300.ino
|
||||
* @brief Demo sketch for DShotRMT library
|
||||
* @author Wastl Kraus
|
||||
* @date 2025-09-09
|
||||
* @license MIT
|
||||
*/
|
||||
|
||||
#include <Arduino.h>
|
||||
#include <WiFi.h>
|
||||
|
||||
#include <DShotRMT.h>
|
||||
|
||||
#include <ArduinoJson.h>
|
||||
#include <AsyncTCP.h>
|
||||
#include <ESPAsyncWebServer.h>
|
||||
|
||||
// Wifi Configuration
|
||||
static constexpr auto *ssid = "DShotRMT Control";
|
||||
static constexpr auto *password = "12345678";
|
||||
|
||||
IPAddress local_IP(10, 10, 10, 1);
|
||||
IPAddress gateway(0, 0, 0, 0);
|
||||
IPAddress subnet(255, 255, 255, 0);
|
||||
|
||||
// USB serial port settings
|
||||
static constexpr auto &USB_SERIAL = Serial;
|
||||
static constexpr auto USB_SERIAL_BAUD = 115200;
|
||||
|
||||
// Motor configuration - Pin number or GPIO_PIN
|
||||
static constexpr auto MOTOR01_PIN = 17;
|
||||
|
||||
// Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
|
||||
static constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
|
||||
|
||||
// BiDirectional DShot Support (default: false)
|
||||
static constexpr auto IS_BIDIRECTIONAL = false;
|
||||
|
||||
// Motor magnet count for RPM calculation
|
||||
static constexpr auto MOTOR01_MAGNET_COUNT = 14;
|
||||
|
||||
// Creates the motor instance
|
||||
DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE, IS_BIDIRECTIONAL);
|
||||
|
||||
// Web Server Configuration
|
||||
AsyncWebServer server(80);
|
||||
AsyncWebSocket ws("/ws");
|
||||
|
||||
// Global variables
|
||||
static uint16_t throttle = DSHOT_CMD_MOTOR_STOP;
|
||||
static bool isArmed = false;
|
||||
static bool continuous_throttle = true;
|
||||
|
||||
// Helpers (forward declaration)
|
||||
void printMenu();
|
||||
void handleSerialInput(const String &input);
|
||||
void handleWebSocketMessage(void *arg, uint8_t *data, size_t len);
|
||||
void onWsEvent(AsyncWebSocket *server, AsyncWebSocketClient *client, AwsEventType type, void *arg, uint8_t *data, size_t len);
|
||||
void setArmingStatus(bool armed);
|
||||
|
||||
//
|
||||
void setup()
|
||||
{
|
||||
USB_SERIAL.begin(USB_SERIAL_BAUD);
|
||||
|
||||
motor01.begin();
|
||||
motor01.printCpuInfo();
|
||||
|
||||
// Set IP Address
|
||||
WiFi.softAPConfig(local_IP, gateway, subnet);
|
||||
|
||||
// Start Wifi Access Point
|
||||
USB_SERIAL.println("\nStarting Access Point...");
|
||||
WiFi.softAP(ssid, password);
|
||||
|
||||
IPAddress IP = WiFi.softAPIP();
|
||||
|
||||
USB_SERIAL.print("Access Point IP address: ");
|
||||
USB_SERIAL.println(IP);
|
||||
|
||||
// Init WebSockets and Webserver
|
||||
USB_SERIAL.println("\nStarting Webserver...");
|
||||
ws.onEvent(onWsEvent);
|
||||
server.addHandler(&ws);
|
||||
|
||||
server.on("/", HTTP_GET, [](AsyncWebServerRequest *request)
|
||||
{ request->send_P(200, "text/html", index_html); });
|
||||
|
||||
server.begin();
|
||||
USB_SERIAL.println("HTTP server started.");
|
||||
|
||||
// Initialize with disarmed state
|
||||
setArmingStatus(false);
|
||||
|
||||
printMenu();
|
||||
}
|
||||
|
||||
void loop()
|
||||
{
|
||||
static uint64_t last_serial_update = 0;
|
||||
static uint16_t last_sent_throttle = DSHOT_CMD_MOTOR_STOP;
|
||||
static bool last_sent_armed = false;
|
||||
static String last_sent_rpm = "N/A";
|
||||
|
||||
// Handle serial input
|
||||
if (USB_SERIAL.available() > 0)
|
||||
{
|
||||
String input = USB_SERIAL.readStringUntil('\n');
|
||||
input.trim();
|
||||
if (input.length() > 0)
|
||||
{
|
||||
handleSerialInput(input);
|
||||
}
|
||||
}
|
||||
|
||||
// Send throttle value only if armed and continuous mode is enabled
|
||||
if (isArmed && continuous_throttle && throttle > 0)
|
||||
{
|
||||
motor01.sendThrottle(throttle);
|
||||
}
|
||||
else if (!isArmed && continuous_throttle)
|
||||
{
|
||||
// Ensure motor is stopped when disarmed
|
||||
motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
|
||||
}
|
||||
|
||||
// Print motor stats every 3 seconds in continuous mode
|
||||
if ((esp_timer_get_time() - last_serial_update >= 3000000))
|
||||
{
|
||||
motor01.printDShotInfo();
|
||||
|
||||
USB_SERIAL.println(" ");
|
||||
|
||||
// Get Motor RPM if bidirectional and armed
|
||||
if (IS_BIDIRECTIONAL && isArmed)
|
||||
{
|
||||
dshot_telemetry_result_t telem_result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT);
|
||||
printDShotTelemetry(telem_result);
|
||||
}
|
||||
|
||||
USB_SERIAL.println("Type 'help' to show Menu");
|
||||
|
||||
// Time Stamp
|
||||
last_serial_update = esp_timer_get_time();
|
||||
}
|
||||
|
||||
// Update JSON on data change
|
||||
String current_rpm = "N/A";
|
||||
|
||||
if (IS_BIDIRECTIONAL && isArmed)
|
||||
{
|
||||
dshot_telemetry_result_t telem_result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT);
|
||||
current_rpm = String(telem_result.motor_rpm);
|
||||
}
|
||||
|
||||
if (throttle != last_sent_throttle || isArmed != last_sent_armed || current_rpm != last_sent_rpm)
|
||||
{
|
||||
// Generate JSON for Webserver
|
||||
JsonDocument doc;
|
||||
doc["throttle"] = isArmed ? throttle : 0;
|
||||
doc["armed"] = isArmed;
|
||||
doc["rpm"] = current_rpm;
|
||||
|
||||
String json_output;
|
||||
json_output.reserve(256);
|
||||
serializeJson(doc, json_output);
|
||||
|
||||
if (ws.count() > 0)
|
||||
{
|
||||
ws.textAll(json_output);
|
||||
}
|
||||
|
||||
// Update last run
|
||||
last_sent_throttle = throttle;
|
||||
last_sent_armed = isArmed;
|
||||
last_sent_rpm = current_rpm;
|
||||
}
|
||||
|
||||
ws.cleanupClients();
|
||||
}
|
||||
|
||||
//
|
||||
void setArmingStatus(bool armed)
|
||||
{
|
||||
isArmed = armed;
|
||||
|
||||
if (!armed)
|
||||
{
|
||||
// Safety: Stop motor and reset throttle when disarming
|
||||
throttle = 0;
|
||||
continuous_throttle = false;
|
||||
motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.println("=== MOTOR DISARMED - SAFETY STOP EXECUTED ===");
|
||||
}
|
||||
else
|
||||
{
|
||||
continuous_throttle = true;
|
||||
}
|
||||
}
|
||||
|
||||
//
|
||||
void printMenu()
|
||||
{
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.println("***********************************************");
|
||||
USB_SERIAL.println(" --- DShotRMT Demo & Web UI --- ");
|
||||
USB_SERIAL.println("***********************************************");
|
||||
USB_SERIAL.println(" Web Config: http://10.10.10.1 ");
|
||||
USB_SERIAL.println("***********************************************");
|
||||
USB_SERIAL.println(" arm - Arm motor");
|
||||
USB_SERIAL.println(" disarm - Disarm motor (safety)");
|
||||
USB_SERIAL.println(" <value> - Set throttle (48 – 2047)");
|
||||
USB_SERIAL.println(" 0 - Stop motor");
|
||||
USB_SERIAL.println("***********************************************");
|
||||
USB_SERIAL.println(" cmd <number> - Send DShot command (0 - 47)");
|
||||
USB_SERIAL.println(" info - Show motor info");
|
||||
if (IS_BIDIRECTIONAL)
|
||||
{
|
||||
USB_SERIAL.println(" rpm - Get telemetry data");
|
||||
}
|
||||
USB_SERIAL.println("***********************************************");
|
||||
USB_SERIAL.println(" h / help - Show this Menu");
|
||||
USB_SERIAL.println("***********************************************");
|
||||
USB_SERIAL.printf(" Current Status: %s\n", isArmed ? "ARMED" : "DISARMED");
|
||||
USB_SERIAL.println("***********************************************");
|
||||
}
|
||||
|
||||
// Handle serial inputs and updates global variables
|
||||
void handleSerialInput(const String &input)
|
||||
{
|
||||
if (input == "arm")
|
||||
{
|
||||
setArmingStatus(true);
|
||||
}
|
||||
else if (input == "disarm")
|
||||
{
|
||||
setArmingStatus(false);
|
||||
}
|
||||
else if (input == "0")
|
||||
{
|
||||
throttle = 0;
|
||||
continuous_throttle = false;
|
||||
dshot_result_t result = motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
|
||||
printDShotResult(result);
|
||||
}
|
||||
else if (input == "info")
|
||||
{
|
||||
motor01.printDShotInfo();
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.printf("Arming Status: %s\n", isArmed ? "ARMED" : "DISARMED");
|
||||
}
|
||||
else if (input == "rpm" && IS_BIDIRECTIONAL)
|
||||
{
|
||||
if (isArmed)
|
||||
{
|
||||
dshot_telemetry_result_t result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT);
|
||||
printDShotTelemetry(result);
|
||||
}
|
||||
else
|
||||
{
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.println("Cannot read RPM - Motor is DISARMED");
|
||||
}
|
||||
}
|
||||
else if (input.startsWith("cmd "))
|
||||
{
|
||||
if (!isArmed)
|
||||
{
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.println("Cannot send command - Motor is DISARMED. Use 'arm' command first.");
|
||||
return;
|
||||
}
|
||||
|
||||
continuous_throttle = false;
|
||||
int cmd_num = input.substring(4).toInt();
|
||||
if (cmd_num >= DSHOT_CMD_MOTOR_STOP && cmd_num <= DSHOT_CMD_MAX)
|
||||
{
|
||||
dshot_result_t result = motor01.sendCommand(cmd_num);
|
||||
printDShotResult(result);
|
||||
}
|
||||
else
|
||||
{
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.printf("Invalid command: %d (valid range: 0 - %d)\n", cmd_num, DSHOT_CMD_MAX);
|
||||
}
|
||||
}
|
||||
else if (input == "h" || input == "help")
|
||||
{
|
||||
printMenu();
|
||||
}
|
||||
else if (input == "status")
|
||||
{
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.printf("Arming Status: %s\n", isArmed ? "ARMED" : "DISARMED");
|
||||
USB_SERIAL.printf("Current Throttle: %u\n", throttle);
|
||||
USB_SERIAL.printf("Continuous Mode: %s\n", continuous_throttle ? "ACTIVE" : "INACTIVE");
|
||||
}
|
||||
else
|
||||
{
|
||||
int throttle_value = input.toInt();
|
||||
|
||||
if (throttle_value >= DSHOT_THROTTLE_MIN && throttle_value <= DSHOT_THROTTLE_MAX)
|
||||
{
|
||||
if (!isArmed)
|
||||
{
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.println("Cannot set throttle - Motor is DISARMED. Use 'arm' command first.");
|
||||
return;
|
||||
}
|
||||
|
||||
throttle = throttle_value;
|
||||
continuous_throttle = true;
|
||||
|
||||
dshot_result_t result = motor01.sendThrottle(throttle);
|
||||
|
||||
if (result.success)
|
||||
{
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.printf("Throttle set to %u (continuous mode active)\n", throttle);
|
||||
}
|
||||
}
|
||||
else if (throttle_value == 0)
|
||||
{
|
||||
throttle = 0;
|
||||
continuous_throttle = false;
|
||||
dshot_result_t result = motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
|
||||
printDShotResult(result);
|
||||
}
|
||||
else
|
||||
{
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.printf("Invalid input: '%s'\n", input.c_str());
|
||||
USB_SERIAL.printf("Valid throttle range: %d - %d\n", DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX);
|
||||
USB_SERIAL.println("Use 'arm' to enable motor control");
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
// Websocket request processing
|
||||
void handleWebSocketMessage(void *arg, uint8_t *data, size_t len)
|
||||
{
|
||||
JsonDocument doc;
|
||||
DeserializationError error = deserializeJson(doc, data, len);
|
||||
|
||||
if (error)
|
||||
{
|
||||
USB_SERIAL.print(F("deserializeJson() failed: "));
|
||||
USB_SERIAL.println(error.c_str());
|
||||
return;
|
||||
}
|
||||
|
||||
//
|
||||
bool armedFromWeb = false;
|
||||
|
||||
// Handle arming status
|
||||
if (doc.containsKey("armed"))
|
||||
{
|
||||
bool armed = doc["armed"];
|
||||
setArmingStatus(armed);
|
||||
armedFromWeb = true;
|
||||
}
|
||||
|
||||
// Handle throttle value (only if armed)
|
||||
if (doc.containsKey("throttle") && isArmed)
|
||||
{
|
||||
uint16_t web_throttle = doc["throttle"];
|
||||
|
||||
// Check for valid throttle value
|
||||
if (web_throttle == 0)
|
||||
{
|
||||
throttle = 0;
|
||||
continuous_throttle = false;
|
||||
motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
|
||||
}
|
||||
else if (web_throttle >= DSHOT_THROTTLE_MIN && web_throttle <= DSHOT_THROTTLE_MAX)
|
||||
{
|
||||
throttle = web_throttle;
|
||||
continuous_throttle = true;
|
||||
}
|
||||
}
|
||||
else if (doc.containsKey("throttle") && !isArmed)
|
||||
{
|
||||
throttle = 0;
|
||||
continuous_throttle = false;
|
||||
// Ignore throttle commands when disarmed
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.println("Web throttle command ignored - Motor is DISARMED");
|
||||
}
|
||||
|
||||
// Webserver arms with DSHOT_THROTTLE_MIN
|
||||
if (armedFromWeb && isArmed)
|
||||
{
|
||||
throttle = DSHOT_THROTTLE_MIN;
|
||||
continuous_throttle = true;
|
||||
motor01.sendThrottle(throttle);
|
||||
USB_SERIAL.println(" ");
|
||||
USB_SERIAL.println("Motor armed via Web - throttle set to 48");
|
||||
}
|
||||
}
|
||||
|
||||
// Websocket request handler
|
||||
void onWsEvent(AsyncWebSocket *server, AsyncWebSocketClient *client, AwsEventType type, void *arg, uint8_t *data, size_t len)
|
||||
{
|
||||
switch (type)
|
||||
{
|
||||
case WS_EVT_CONNECT:
|
||||
USB_SERIAL.printf("Web Client #%u connected from %s\n", client->id(), client->remoteIP().toString().c_str());
|
||||
|
||||
// Send current arming status to new client
|
||||
{
|
||||
JsonDocument doc;
|
||||
doc["armed"] = isArmed;
|
||||
doc["throttle"] = isArmed ? throttle : 0;
|
||||
String json_output;
|
||||
serializeJson(doc, json_output);
|
||||
client->text(json_output);
|
||||
}
|
||||
break;
|
||||
|
||||
case WS_EVT_DISCONNECT:
|
||||
USB_SERIAL.printf("Web Client #%u disconnected\n", client->id());
|
||||
break;
|
||||
|
||||
case WS_EVT_DATA:
|
||||
handleWebSocketMessage(arg, data, len);
|
||||
break;
|
||||
|
||||
case WS_EVT_PONG:
|
||||
case WS_EVT_ERROR:
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
|
@ -1,9 +1,12 @@
|
|||
name=DShotRMT
|
||||
version=0.7.2
|
||||
author=derdoktor667
|
||||
maintainer=derdoktor667
|
||||
version=0.7.5
|
||||
author=Wastl Kraus <wir-sind-die-matrix.de>
|
||||
maintainer=Wastl Kraus <wir-sind-die-matrix.de>
|
||||
license=MIT
|
||||
sentence=DShotRMT Library supporting all DShot Types and speeds. Tested with BlHeli_S.
|
||||
paragraph=This library can control a BlHeli_S by using encoded DShot commands.
|
||||
paragraph=This library can control a BlHeli_S by using encoded DShot commands. Features bidirectional DShot support for RPM telemetry.
|
||||
category=Signal Input/Output
|
||||
url=https://github.com/derdoktor667/DShotRMT
|
||||
architectures=esp32
|
||||
provides_includes=DShotRMT.h, DShotCommandManager.h, dshot_commands.h, web_content.h
|
||||
depends=ArduinoJson
|
||||
|
|
@ -0,0 +1,237 @@
|
|||
/**
|
||||
* @file DShotRMT.h
|
||||
* @brief DShot signal generation using ESP32 RMT with bidirectional support
|
||||
* @author Wastl Kraus
|
||||
* @date 2025-06-11
|
||||
* @license MIT
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include <Arduino.h>
|
||||
#include <dshot_commands.h>
|
||||
#include <web_content.h>
|
||||
#include <driver/gpio.h>
|
||||
#include <driver/rmt_tx.h>
|
||||
#include <driver/rmt_rx.h>
|
||||
|
||||
// DShot Protocol Constants
|
||||
static constexpr auto DSHOT_THROTTLE_FAILSAFE = 0;
|
||||
static constexpr auto DSHOT_THROTTLE_MIN = 48;
|
||||
static constexpr auto DSHOT_THROTTLE_MAX = 2047;
|
||||
static constexpr auto DSHOT_BITS_PER_FRAME = 16;
|
||||
static constexpr auto DSHOT_PAUSE_US = 30; // Additional frame pause time
|
||||
static constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000;
|
||||
static constexpr auto DSHOT_FULL_PACKET = 0b1111111111111111;
|
||||
static constexpr auto DSHOT_CRC_MASK = 0b0000000000001111;
|
||||
static constexpr auto DSHOT_RX_TIMEOUT_MS = 2; // Never reached, just a timeeout
|
||||
static constexpr auto GCR_BITS_PER_FRAME = 21; // Number of GCR bits in a DShot answer frame (1 start + 16 data + 4 CRC)
|
||||
static constexpr auto DEFAULT_MOTOR_MAGNET_COUNT = 14;
|
||||
static constexpr auto MAGNETS_PER_POLE_PAIR = 2;
|
||||
static constexpr auto MIN_POLE_PAIRS = 1;
|
||||
static constexpr auto NO_DSHOT_ERPM = 0;
|
||||
static constexpr auto NO_DSHOT_RPM = 0;
|
||||
|
||||
// RMT Configuration Constants
|
||||
constexpr auto DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
|
||||
constexpr auto DSHOT_RMT_RESOLUTION = 10 * 1000 * 1000; // 10 MHz resolution
|
||||
constexpr auto RMT_BUFFER_SIZE = DSHOT_BITS_PER_FRAME;
|
||||
constexpr auto RMT_BUFFER_SYMBOLS = 64;
|
||||
constexpr auto RMT_QUEUE_DEPTH = 1;
|
||||
|
||||
// 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.
|
||||
constexpr uint32_t DSHOT_PULSE_MIN = 3000;
|
||||
constexpr uint32_t DSHOT_PULSE_MAX = 60000;
|
||||
|
||||
// DShot Modes
|
||||
typedef enum
|
||||
{
|
||||
DSHOT_OFF,
|
||||
DSHOT150,
|
||||
DSHOT300,
|
||||
DSHOT600,
|
||||
DSHOT1200
|
||||
} dshot_mode_t;
|
||||
|
||||
// DShot Packet
|
||||
typedef struct
|
||||
{
|
||||
uint16_t throttle_value : 11;
|
||||
bool telemetric_request : 1;
|
||||
uint16_t checksum : 4;
|
||||
} dshot_packet_t;
|
||||
|
||||
// DShot Timing Configuration
|
||||
typedef struct
|
||||
{
|
||||
uint32_t frame_length_us;
|
||||
uint16_t ticks_per_bit;
|
||||
uint16_t ticks_one_high;
|
||||
uint16_t ticks_one_low;
|
||||
uint16_t ticks_zero_high;
|
||||
uint16_t ticks_zero_low;
|
||||
} dshot_timing_t;
|
||||
|
||||
// Error handling
|
||||
typedef struct
|
||||
{
|
||||
bool success;
|
||||
const char *msg;
|
||||
} dshot_result_t;
|
||||
|
||||
// DShot telemetry result
|
||||
typedef struct
|
||||
{
|
||||
bool success;
|
||||
uint16_t erpm;
|
||||
uint16_t motor_rpm;
|
||||
const char *msg;
|
||||
} dshot_telemetry_result_t;
|
||||
|
||||
// Naming convention
|
||||
typedef dshotCommands_e dshot_commands_t;
|
||||
|
||||
// --- HELPERS ---
|
||||
void printDShotResult(dshot_result_t &result, Stream &output = Serial);
|
||||
void printDShotTelemetry(dshot_telemetry_result_t &result, Stream &output = Serial);
|
||||
|
||||
//
|
||||
class DShotRMT
|
||||
{
|
||||
public:
|
||||
// Constructor with GPIO enum
|
||||
explicit DShotRMT(gpio_num_t gpio = GPIO_NUM_16, dshot_mode_t mode = DSHOT300, bool is_bidirectional = false);
|
||||
|
||||
// Constructor with pin number
|
||||
DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional);
|
||||
|
||||
// Destructor for "better" code
|
||||
~DShotRMT();
|
||||
|
||||
// Initialize the RMT module and DShot config
|
||||
dshot_result_t begin();
|
||||
|
||||
// Send throttle value (48-2047)
|
||||
dshot_result_t sendThrottle(uint16_t throttle);
|
||||
|
||||
// Send DShot command (0-47)
|
||||
dshot_result_t sendCommand(uint16_t command);
|
||||
|
||||
// --- GETTERS ---
|
||||
gpio_num_t getGPIO() const { return _gpio; }
|
||||
uint16_t getDShotPacket() const { return _parsed_packet; }
|
||||
bool is_bidirectional() const { return _is_bidirectional; }
|
||||
dshot_mode_t getMode() const { return _mode; }
|
||||
dshot_telemetry_result_t getTelemetry(uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT);
|
||||
|
||||
// --- INFO ---
|
||||
void printDShotInfo(Stream &output = Serial) const;
|
||||
void printCpuInfo(Stream &output = Serial) const;
|
||||
|
||||
// --- DEPRECATED METHODS ---
|
||||
[[deprecated("Use sendThrottle() instead")]]
|
||||
bool setThrottle(uint16_t throttle)
|
||||
{
|
||||
auto result = sendThrottle(throttle);
|
||||
return result.success;
|
||||
}
|
||||
|
||||
[[deprecated("Use sendCommand() instead")]]
|
||||
bool sendDShotCommand(uint16_t command)
|
||||
{
|
||||
auto result = sendCommand(command);
|
||||
return result.success;
|
||||
}
|
||||
|
||||
[[deprecated("Use getTelemetry() instead")]]
|
||||
uint32_t getMotorRPM(uint8_t magnet_count)
|
||||
{
|
||||
auto result = getTelemetry(magnet_count);
|
||||
return result.success;
|
||||
}
|
||||
|
||||
private:
|
||||
// --- CONFIG ---
|
||||
gpio_num_t _gpio;
|
||||
dshot_mode_t _mode;
|
||||
bool _is_bidirectional;
|
||||
uint32_t _frame_timer_us;
|
||||
const dshot_timing_t &_timing_config;
|
||||
uint16_t _last_throttle;
|
||||
|
||||
// --- TIMING & PACKET VARIABLES ---
|
||||
uint64_t _last_transmission_time;
|
||||
uint16_t _parsed_packet;
|
||||
dshot_packet_t _packet;
|
||||
uint8_t _bitPositions[DSHOT_BITS_PER_FRAME];
|
||||
uint16_t _level0;
|
||||
uint16_t _level1;
|
||||
|
||||
// --- RMT HARDWARE HANDLES ---
|
||||
rmt_channel_handle_t _rmt_tx_channel;
|
||||
rmt_channel_handle_t _rmt_rx_channel;
|
||||
rmt_encoder_handle_t _dshot_encoder;
|
||||
|
||||
// --- RMT CONFIG STRUCTURES ---
|
||||
rmt_tx_channel_config_t _tx_channel_config;
|
||||
rmt_rx_channel_config_t _rx_channel_config;
|
||||
rmt_transmit_config_t _transmit_config;
|
||||
rmt_receive_config_t _receive_config;
|
||||
|
||||
// --- INITS ---
|
||||
dshot_result_t _initTXChannel();
|
||||
dshot_result_t _initRXChannel();
|
||||
dshot_result_t _initDShotEncoder();
|
||||
|
||||
// --- PACKET MANAGEMENT ---
|
||||
dshot_packet_t _buildDShotPacket(const uint16_t value);
|
||||
uint16_t _parseDShotPacket(const dshot_packet_t &packet);
|
||||
uint16_t _calculateCRC(const uint16_t data);
|
||||
void _preCalculateBitPositions();
|
||||
|
||||
// --- FRAME PROCESSING ---
|
||||
dshot_result_t _sendDShotFrame(const dshot_packet_t &packet);
|
||||
bool IRAM_ATTR _encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols);
|
||||
uint16_t _decodeDShotFrame(const rmt_symbol_word_t *symbols);
|
||||
|
||||
// --- TIMING CONTROL ---
|
||||
bool IRAM_ATTR _timer_signal();
|
||||
bool _timer_reset();
|
||||
|
||||
// -- CALLBACKS ---
|
||||
rmt_rx_event_callbacks_t _rx_event_callbacks;
|
||||
volatile rmt_symbol_word_t _rx_symbols_direct[GCR_BITS_PER_FRAME];
|
||||
volatile uint16_t _last_erpm_atomic;
|
||||
volatile bool _telemetry_ready_flag;
|
||||
static bool IRAM_ATTR _rmt_rx_done_callback(rmt_channel_handle_t rmt_rx_channel, const rmt_rx_done_event_data_t *edata, void *user_data);
|
||||
|
||||
// --- DSHOT DEFAULTS ---
|
||||
static constexpr auto const DSHOT_TELEMETRY_INVALID = (0xffff);
|
||||
|
||||
// --- CONSTANTS & ERROR MESSAGES ---
|
||||
static constexpr bool DSHOT_OK = 0;
|
||||
static constexpr bool DSHOT_ERROR = 1;
|
||||
|
||||
static constexpr char const *NONE = "";
|
||||
static constexpr char const *UNKNOWN_ERROR = "Unknown Error!";
|
||||
static constexpr char const *INIT_SUCCESS = "SignalGeneratorRMT initialized successfully";
|
||||
static constexpr char const *INIT_FAILED = "SignalGeneratorRMT init failed!";
|
||||
static constexpr char const *TX_INIT_SUCCESS = "TX RMT channel initialized successfully";
|
||||
static constexpr char const *TX_INIT_FAILED = "TX RMT channel init failed!";
|
||||
static constexpr char const *RX_INIT_SUCCESS = "RX RMT channel initialized successfully";
|
||||
static constexpr char const *RX_INIT_FAILED = "RX RMT channel init failed!";
|
||||
static constexpr char const *RX_BUFFER_FAILED = "RX RMT buffer init failed!";
|
||||
static constexpr char const *ENCODER_INIT_SUCCESS = "RMT encoder initialized successfully";
|
||||
static constexpr char const *ENCODER_INIT_FAILED = "RMT encoder init failed!";
|
||||
static constexpr char const *TRANSMISSION_SUCCESS = "Transmission successfully";
|
||||
static constexpr char const *TRANSMISSION_FAILED = "Transmission failed!";
|
||||
static constexpr char const *RECEIVER_FAILED = "RMT receiver failed!";
|
||||
static constexpr char const *THROTTLE_NOT_IN_RANGE = "Throttle not in range! (48 - 2047)";
|
||||
static constexpr char const *COMMAND_NOT_VALID = "Command not valid! (0 - 47)";
|
||||
static constexpr char const *BIDIR_NOT_ENABLED = "Bidirectional DShot not enabled!";
|
||||
static constexpr char const *TELEMETRY_SUCCESS = "Valid Telemetric Frame received!";
|
||||
static constexpr char const *TELEMETRY_FAILED = "No valid Telemetric Frame received!";
|
||||
static constexpr char const *INVALID_MAGNET_COUNT = "Invalid motor magnet count!";
|
||||
static constexpr char const *TIMING_CORRECTION = "Timing correction!";
|
||||
};
|
||||
|
|
@ -6,6 +6,8 @@
|
|||
* @license MIT
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
// Web Site Content
|
||||
const char index_html[] PROGMEM = R"rawliteral(
|
||||
<!DOCTYPE html>
|
||||
Loading…
Reference in New Issue