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DShotRMT
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...restructure for rework

This commit is contained in:
Wastl Kraus 2022-11-26 13:52:46 +01:00
parent 85814f39be
commit 873b228d59
5 changed files with 254 additions and 276 deletions
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4
.gitignore vendored
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@ -1,3 +1,5 @@
.vs
.vscode
.vscode/*
!.vscode/settings.json
!.vscode/tasks.json
@ -12,4 +14,4 @@
*.vsix
# Caching ESP32 Builds
buildCache/*
buildCache

32
src/BlheliCmdMap.h
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@ -1,32 +0,0 @@
#pragma once
// Source: https://github.com/bitdump/BLHeli/blob/master/BLHeli_S%20SiLabs/Dshotprog%20spec%20BLHeli_S.txt
// Date: 04.07.2021
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
DSHOT_CMD_BEEP3, // Wait at least length of beep (400ms) before next command
DSHOT_CMD_BEEP4, // Wait at least length of beep (400ms) before next command
DSHOT_CMD_BEEP5, // Wait at least length of beep (400ms) before next command
DSHOT_CMD_ESC_INFO, // Currently not implemented
DSHOT_CMD_SPIN_DIRECTION_1, // Need 6x, no wait required
DSHOT_CMD_SPIN_DIRECTION_2, // Need 6x, no wait required
DSHOT_CMD_3D_MODE_OFF, // Need 6x, no wait required
DSHOT_CMD_3D_MODE_ON, // Need 6x, no wait required
DSHOT_CMD_SETTINGS_REQUEST, // Currently not implemented
DSHOT_CMD_SAVE_SETTINGS, // Need 6x, wait at least 12ms before next command
DSHOT_CMD_SPIN_DIRECTION_NORMAL, // Need 6x, no wait required
DSHOT_CMD_SPIN_DIRECTION_REVERSED, // Need 6x, no wait required
DSHOT_CMD_LED0_ON, // Currently not implemented
DSHOT_CMD_LED1_ON, // Currently not implemented
DSHOT_CMD_LED2_ON, // Currently not implemented
DSHOT_CMD_LED3_ON, // Currently not implemented
DSHOT_CMD_LED0_OFF, // Currently not implemented
DSHOT_CMD_LED1_OFF, // Currently not implemented
DSHOT_CMD_LED2_OFF, // Currently not implemented
DSHOT_CMD_LED3_OFF, // Currently not implemented
DSHOT_CMD_MAX = 47
};

14
src/DShotRMT.cpp
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@ -33,7 +33,7 @@ DShotRMT::~DShotRMT()
rmt_driver_uninstall(dshot_config.rmt_channel);
}
DShotRMT::DShotRMT(DShotRMT const &)
DShotRMT::DShotRMT(DShotRMT const&)
{
// ...write me
}
@ -133,18 +133,18 @@ 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)
@ -212,7 +212,7 @@ 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;
@ -235,7 +235,7 @@ 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);
@ -248,7 +248,7 @@ 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));

36
src/DShotRMT.h
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@ -6,10 +6,16 @@
#pragma once
#include "BlheliCmdMap.h"
#include <Arduino.h>
#ifndef _DSHOTRMT_h
#define _DSHOTRMT_h
// ...utilizing the IR Module library for generating the DShot signal
#if defined(ARDUINO) && ARDUINO >= 100
#include "arduino.h"
#else
#include "WProgram.h"
#endif
// ...utilizing the RMT Module library for generating the DShot signal
#include <driver/rmt.h>
constexpr auto DSHOT_CLK_DIVIDER = 8; // ...slow down RMT clock to 0.1 microseconds / 100 nanoseconds per cycle
@ -36,12 +42,12 @@ 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;
@ -86,27 +92,29 @@ typedef struct dshot_config_s
class DShotRMT
{
public:
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);
void send_dshot_value(uint16_t throttle_value, telemetric_request_t telemetric_request = NO_TELEMETRIC);
dshot_config_t *get_dshot_info();
uint8_t *get_dshot_clock_div();
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;
rmt_item32_t *encode_dshot_to_rmt(uint16_t parsed_packet);
uint16_t calc_dshot_chksum(const dshot_packet_t &dshot_packet);
uint16_t prepare_rmt_data(const dshot_packet_t &dshot_packet);
rmt_item32_t* encode_dshot_to_rmt(uint16_t parsed_packet);
uint16_t calc_dshot_chksum(const dshot_packet_t& dshot_packet);
uint16_t prepare_rmt_data(const dshot_packet_t& dshot_packet);
void output_rmt_data(const dshot_packet_t &dshot_packet);
void output_rmt_data(const dshot_packet_t& dshot_packet);
};
#endif