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DShotRMT
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...cosmetics

This commit is contained in:
Wastl Kraus 2022-11-25 16:08:58 +01:00
parent 295d5e6571
commit 85814f39be
7 changed files with 288 additions and 233 deletions
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3
.gitignore vendored
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@ -10,3 +10,6 @@
# Built Visual Studio Code Extensions
*.vsix
# Caching ESP32 Builds
buildCache/*

8
DShotRMT.code-workspace Normal file
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@ -0,0 +1,8 @@
{
"folders": [
{
"path": "."
}
],
"settings": {}
}

16
examples/dshot300/dshot300.ino
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@ -14,7 +14,8 @@ DShotRMT dshot_01(GPIO_NUM_4, RMT_CHANNEL_0);
volatile uint16_t throttle_value = 0x30; // ...sending "48", the first throttle value
constexpr auto FAILSAVE_THROTTLE = 0x3E7;
void setup() {
void setup()
{
// ...always start the onboard usb support
USB_Serial.begin(USB_SERIAL_BAUD);
@ -22,7 +23,8 @@ void setup() {
dshot_01.begin(DSHOT300);
}
void loop() {
void loop()
{
read_SerialThrottle();
dshot_01.send_dshot_value(throttle_value);
@ -33,11 +35,15 @@ void loop() {
//
//
uint16_t read_SerialThrottle() {
if (USB_Serial.available() > 0) {
uint16_t read_SerialThrottle()
{
if (USB_Serial.available() > 0)
{
auto throttle_input = (USB_Serial.readStringUntil('\n')).toInt();
return throttle_input;
} else {
}
else
{
return FAILSAVE_THROTTLE;
}
}

2
library.properties
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@ -1,5 +1,5 @@
name=DShotRMT
version=0.2.0
version=0.2.1
author=derdoktor667
maintainer=derdoktor667
sentence=DShotRMT Library supporting all DShot Types and speeds. Tested with BlHeli_S.

3
src/BlheliCmdMap.h
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@ -3,7 +3,8 @@
// Source: https://github.com/bitdump/BLHeli/blob/master/BLHeli_S%20SiLabs/Dshotprog%20spec%20BLHeli_S.txt
// Date: 04.07.2021
enum dshot_cmd_t {
enum dshot_cmd_t
{
DSHOT_CMD_MOTOR_STOP, // Currently not implemented - STOP Motors
DSHOT_CMD_BEEP1, // Wait at least length of beep (380ms) before next command
DSHOT_CMD_BEEP2, // Wait at least length of beep (380ms) before next command

92
src/DShotRMT.cpp
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@ -6,7 +6,8 @@
#include "DShotRMT.h"
DShotRMT::DShotRMT(gpio_num_t gpio, rmt_channel_t rmtChannel) {
DShotRMT::DShotRMT(gpio_num_t gpio, rmt_channel_t rmtChannel)
{
dshot_config.gpio_num = gpio;
dshot_config.pin_num = uint8_t(gpio);
dshot_config.rmt_channel = rmtChannel;
@ -16,7 +17,8 @@ DShotRMT::DShotRMT(gpio_num_t gpio, rmt_channel_t rmtChannel) {
encode_dshot_to_rmt(DSHOT_NULL_PACKET);
}
DShotRMT::DShotRMT(uint8_t pin, uint8_t channel) {
DShotRMT::DShotRMT(uint8_t pin, uint8_t channel)
{
dshot_config.gpio_num = gpio_num_t(pin);
dshot_config.pin_num = pin;
dshot_config.rmt_channel = rmt_channel_t(channel);
@ -26,21 +28,25 @@ DShotRMT::DShotRMT(uint8_t pin, uint8_t channel) {
encode_dshot_to_rmt(DSHOT_NULL_PACKET);
}
DShotRMT::~DShotRMT() {
DShotRMT::~DShotRMT()
{
rmt_driver_uninstall(dshot_config.rmt_channel);
}
DShotRMT::DShotRMT(DShotRMT const&) {
DShotRMT::DShotRMT(DShotRMT const &)
{
// ...write me
}
bool DShotRMT::begin(dshot_mode_t dshot_mode, bool is_bidirectional) {
bool DShotRMT::begin(dshot_mode_t dshot_mode, bool is_bidirectional)
{
dshot_config.mode = dshot_mode;
dshot_config.clk_div = DSHOT_CLK_DIVIDER;
dshot_config.name_str = dshot_mode_name[dshot_mode];
dshot_config.bidirectional = is_bidirectional;
switch (dshot_config.mode) {
switch (dshot_config.mode)
{
case DSHOT150:
dshot_config.ticks_per_bit = 64; // ...Bit Period Time 6.67 us
dshot_config.ticks_zero_high = 24; // ...zero time 2.50 us
@ -87,9 +93,12 @@ bool DShotRMT::begin(dshot_mode_t dshot_mode, bool is_bidirectional) {
dshot_tx_rmt_config.tx_config.carrier_en = false;
dshot_tx_rmt_config.tx_config.idle_output_en = true;
if (dshot_config.bidirectional) {
if (dshot_config.bidirectional)
{
dshot_tx_rmt_config.tx_config.idle_level = RMT_IDLE_LEVEL_HIGH;
} else {
}
else
{
dshot_tx_rmt_config.tx_config.idle_level = RMT_IDLE_LEVEL_LOW;
}
@ -101,14 +110,17 @@ bool DShotRMT::begin(dshot_mode_t dshot_mode, bool is_bidirectional) {
}
// ...the config part is done, now the calculating and sending part
void DShotRMT::send_dshot_value(uint16_t throttle_value, telemetric_request_t telemetric_request) {
dshot_packet_t dshot_rmt_packet = { };
void DShotRMT::send_dshot_value(uint16_t throttle_value, telemetric_request_t telemetric_request)
{
dshot_packet_t dshot_rmt_packet = {};
if (throttle_value < DSHOT_THROTTLE_MIN) {
if (throttle_value < DSHOT_THROTTLE_MIN)
{
throttle_value = DSHOT_THROTTLE_MIN;
}
if (throttle_value > DSHOT_THROTTLE_MAX) {
if (throttle_value > DSHOT_THROTTLE_MAX)
{
throttle_value = DSHOT_THROTTLE_MAX;
}
@ -121,26 +133,33 @@ void DShotRMT::send_dshot_value(uint16_t throttle_value, telemetric_request_t te
}
// ...get all setup data about current mode
dshot_config_t* DShotRMT::get_dshot_info() {
dshot_config_t *DShotRMT::get_dshot_info()
{
return &dshot_config;
}
// ...get the ABP_Clock Divider for further calculations
uint8_t* DShotRMT::get_dshot_clock_div() {
uint8_t *DShotRMT::get_dshot_clock_div()
{
return &dshot_config.clk_div;
}
rmt_item32_t* DShotRMT::encode_dshot_to_rmt(uint16_t parsed_packet) {
rmt_item32_t *DShotRMT::encode_dshot_to_rmt(uint16_t parsed_packet)
{
// ...is bidirecional mode activated
if (dshot_config.bidirectional) {
if (dshot_config.bidirectional)
{
// ..."invert" the signal duration
for (int i = 0; i < DSHOT_PAUSE_BIT; i++, parsed_packet <<= 1) {
if (parsed_packet & 0b1000000000000000) {
for (int i = 0; i < DSHOT_PAUSE_BIT; i++, parsed_packet <<= 1)
{
if (parsed_packet & 0b1000000000000000)
{
// set one
dshot_tx_rmt_item[i].duration0 = dshot_config.ticks_one_low;
dshot_tx_rmt_item[i].duration1 = dshot_config.ticks_one_high;
}
else {
else
{
// set zero
dshot_tx_rmt_item[i].duration0 = dshot_config.ticks_zero_low;
dshot_tx_rmt_item[i].duration1 = dshot_config.ticks_zero_high;
@ -152,14 +171,18 @@ rmt_item32_t* DShotRMT::encode_dshot_to_rmt(uint16_t parsed_packet) {
}
// ..."normal" DShot mode / "bidirectional" mode OFF
else {
for (int i = 0; i < DSHOT_PAUSE_BIT; i++, parsed_packet <<= 1) {
if (parsed_packet & 0b1000000000000000) {
else
{
for (int i = 0; i < DSHOT_PAUSE_BIT; i++, parsed_packet <<= 1)
{
if (parsed_packet & 0b1000000000000000)
{
// set one
dshot_tx_rmt_item[i].duration0 = dshot_config.ticks_one_high;
dshot_tx_rmt_item[i].duration1 = dshot_config.ticks_one_low;
}
else {
else
{
// set zero
dshot_tx_rmt_item[i].duration0 = dshot_config.ticks_zero_high;
dshot_tx_rmt_item[i].duration1 = dshot_config.ticks_zero_low;
@ -170,10 +193,13 @@ rmt_item32_t* DShotRMT::encode_dshot_to_rmt(uint16_t parsed_packet) {
}
}
if (dshot_config.bidirectional) {
if (dshot_config.bidirectional)
{
dshot_tx_rmt_item[DSHOT_PAUSE_BIT].level0 = 1;
dshot_tx_rmt_item[DSHOT_PAUSE_BIT].level1 = 0;
} else {
}
else
{
dshot_tx_rmt_item[DSHOT_PAUSE_BIT].level0 = 0;
dshot_tx_rmt_item[DSHOT_PAUSE_BIT].level1 = 1;
}
@ -186,7 +212,8 @@ rmt_item32_t* DShotRMT::encode_dshot_to_rmt(uint16_t parsed_packet) {
// ...just returns the checksum
// DOES NOT APPEND CHECKSUM!!!
uint16_t DShotRMT::calc_dshot_chksum(const dshot_packet_t& dshot_packet) {
uint16_t DShotRMT::calc_dshot_chksum(const dshot_packet_t &dshot_packet)
{
// ...start with two emprty "container"
uint16_t packet = DSHOT_NULL_PACKET;
uint16_t chksum = DSHOT_NULL_PACKET;
@ -194,10 +221,13 @@ uint16_t DShotRMT::calc_dshot_chksum(const dshot_packet_t& dshot_packet) {
// ...same initial 12bit data for bidirectional or "normal" mode
packet = (dshot_packet.throttle_value << 1) | dshot_packet.telemetric_request;
if (dshot_config.bidirectional) {
if (dshot_config.bidirectional)
{
// ...calc the checksum "inverted" / bidirectional mode
chksum = (~(packet ^ (packet >> 4) ^ (packet >> 8))) & 0x0F;
} else {
}
else
{
// ...calc the checksum "normal" mode
chksum = (packet ^ (packet >> 4) ^ (packet >> 8)) & 0x0F;
}
@ -205,7 +235,8 @@ uint16_t DShotRMT::calc_dshot_chksum(const dshot_packet_t& dshot_packet) {
return chksum;
}
uint16_t DShotRMT::prepare_rmt_data(const dshot_packet_t &dshot_packet) {
uint16_t DShotRMT::prepare_rmt_data(const dshot_packet_t &dshot_packet)
{
uint16_t prepared_to_encode = DSHOT_NULL_PACKET;
uint16_t chksum = calc_dshot_chksum(dshot_packet);
@ -217,7 +248,8 @@ uint16_t DShotRMT::prepare_rmt_data(const dshot_packet_t &dshot_packet) {
}
// ...finally output using ESP32 RMT
void DShotRMT::output_rmt_data(const dshot_packet_t &dshot_packet) {
void DShotRMT::output_rmt_data(const dshot_packet_t &dshot_packet)
{
encode_dshot_to_rmt(prepare_rmt_data(dshot_packet));
//

31
src/DShotRMT.h
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@ -6,8 +6,8 @@
#pragma once
#include <Arduino.h>
#include "BlheliCmdMap.h"
#include <Arduino.h>
// ...utilizing the IR Module library for generating the DShot signal
#include <driver/rmt.h>
@ -26,7 +26,8 @@ constexpr auto F_CPU_RMT = APB_CLK_FREQ;
constexpr auto RMT_CYCLES_PER_SEC = (F_CPU_RMT / DSHOT_CLK_DIVIDER);
constexpr auto RMT_CYCLES_PER_ESP_CYCLE = (F_CPU / RMT_CYCLES_PER_SEC);
typedef enum dshot_mode_e {
typedef enum dshot_mode_e
{
DSHOT_OFF,
DSHOT150,
DSHOT300,
@ -35,36 +36,39 @@ typedef enum dshot_mode_e {
} dshot_mode_t;
// ...to get human readable DShot Mode
static const char* const dshot_mode_name[] = {
static const char *const dshot_mode_name[] = {
"DSHOT_OFF",
"DSHOT150",
"DSHOT300",
"DSHOT600",
"DSHOT1200"
};
"DSHOT1200"};
typedef String dshot_name_t;
typedef enum telemetric_request_e {
typedef enum telemetric_request_e
{
NO_TELEMETRIC,
ENABLE_TELEMETRIC,
} telemetric_request_t;
// ...set bitcount for DShot packet
typedef struct dshot_packet_s {
typedef struct dshot_packet_s
{
uint16_t throttle_value : 11;
telemetric_request_t telemetric_request : 1;
uint16_t checksum : 4;
} dshot_packet_t;
// ...set bitcount for eRPM packet
typedef struct eRPM_packet_s {
typedef struct eRPM_packet_s
{
uint16_t eRPM_data : 12;
uint8_t checksum : 4;
} eRPM_packet_t;
// ...all settings for the dshot mode
typedef struct dshot_config_s {
typedef struct dshot_config_s
{
dshot_mode_t mode;
dshot_name_t name_str;
bool bidirectional;
@ -80,12 +84,13 @@ typedef struct dshot_config_s {
uint16_t ticks_one_low;
} dshot_config_t;
class DShotRMT {
public:
class DShotRMT
{
public:
DShotRMT(gpio_num_t gpio, rmt_channel_t rmtChannel);
DShotRMT(uint8_t pin, uint8_t channel);
~DShotRMT();
DShotRMT(DShotRMT const&);
DShotRMT(DShotRMT const &);
// ...safety first ...no parameters, no DShot
bool begin(dshot_mode_t dshot_mode = DSHOT_OFF, bool is_bidirectional = false);
@ -94,7 +99,7 @@ class DShotRMT {
dshot_config_t *get_dshot_info();
uint8_t *get_dshot_clock_div();
private:
private:
rmt_item32_t dshot_tx_rmt_item[DSHOT_PACKET_LENGTH];
rmt_config_t dshot_tx_rmt_config;
dshot_config_t dshot_config;