Cansat
/
DShotRMT
2
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

...add Web Server 

...fix warnings and update action versions

...Web Server added
This commit is contained in:
Wastl Kraus 2025-09-09 17:19:57 +02:00
parent d963fa1da7
commit 8783b1a24b
4 changed files with 633 additions and 95 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

54
.github/workflows/ci.yml vendored
View File

@ -12,7 +12,7 @@ jobs:
# Code Quality & Linting
# ============================================================================
quality-check:
name: 'Code Quality'
name: 'Arduino Lint Check'
runs-on: ubuntu-latest
timeout-minutes: 10
@ -50,9 +50,6 @@ jobs:
examples:
- "examples/dshot300/dshot300.ino"
- "examples/command_manager/command_manager.ino"
build-flags:
- name: "Release"
flags: "Automated Build"
steps:
- name: Checkout Repository
@ -67,44 +64,15 @@ jobs:
source-url: https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
libraries: |
# Install the library from the local path.
- name: ArduinoJson
- name: Async TCP
- name: ESP Async WebServer
- name: WiFi
- source-path: ./
sketch-paths: ${{ matrix.examples}}
cli-compile-flags: |
- --warnings="none"
# ============================================================================
# Static Code Analysis
# ============================================================================
static-analysis:
name: 'Static Analysis'
runs-on: ubuntu-latest
timeout-minutes: 10
steps:
- name: Checkout Repository
uses: actions/checkout@v5
- name: Setup Arduino CLI
uses: arduino/setup-arduino-cli@v2
- name: Install ESP32 core
run: |
arduino-cli core update-index > /dev/null
arduino-cli core install esp32:esp32 > /dev/null
- name: Install Cppcheck
run: sudo apt-get update && sudo apt-get install -y cppcheck
- name: Run Cppcheck
run: |
cppcheck --enable=warning,performance \
--std=c++17 \
--language=c++ \
--platform=unix32 \
--inline-suppr \
./DShotRMT.cpp ./DShotRMT.h \
./DShotCommandManager.cpp ./DShotCommandManager.h
# ============================================================================
# Build Status Report
# ============================================================================
@ -112,7 +80,7 @@ jobs:
name: 'Build Summary'
runs-on: ubuntu-latest
if: always()
needs: [quality-check, compile-test, static-analysis]
needs: [quality-check, compile-test]
steps:
- name: Create Build Summary
@ -136,19 +104,11 @@ jobs:
echo "| 🔨 Compilation | ❌ Failed | Compilation errors detected |" >> $GITHUB_STEP_SUMMARY
fi
# Static Analysis Status
if [[ "${{ needs.static-analysis.result }}" == "success" ]]; then
echo "| 🔍 Static Analysis | ✅ Passed | No critical issues found |" >> $GITHUB_STEP_SUMMARY
else
echo "| 🔍 Static Analysis | ❌ Failed | Issues detected by CPPCheck |" >> $GITHUB_STEP_SUMMARY
fi
echo "" >> $GITHUB_STEP_SUMMARY
# Overall Status
if [[ "${{ needs.quality-check.result }}" == "success" &&
"${{ needs.compile-test.result }}" == "success" &&
"${{ needs.static-analysis.result }}" == "success" ]]; then
"${{ needs.compile-test.result }}" == "success" ]]; then
echo "## 🎉 All Checks Passed!" >> $GITHUB_STEP_SUMMARY
echo "Your DShotRMT library is ready for deployment." >> $GITHUB_STEP_SUMMARY
else

1
.gitignore vendored
View File

@ -22,3 +22,4 @@ examples/dshot300/debug_custom.json
examples/dshot300/debug.svd
/build
/.github/chatmodes
web/control.html

301
examples/dshot300/dshot300.ino
View File

@ -2,19 +2,31 @@
* @file dshot300.ino
* @brief Demo sketch for DShotRMT library
* @author Wastl Kraus
* @date 2025-06-11
* @date 2025-09-09
* @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 = Serial0;
static constexpr auto &USB_SERIAL = Serial;
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)
@ -29,59 +41,95 @@ 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()
{
// Safety first
static uint16_t throttle = DSHOT_CMD_MOTOR_STOP;
static bool continuous_throttle = true;
// Time Measurement
static uint64_t last_stats_print = 0;
static uint64_t last_stats_update = 0;
static uint64_t last_serial_update = 0;
// Handle serial input
if (USB_SERIAL.available() > 0)
{
String input = USB_SERIAL.readStringUntil('\n');
input.trim();
if (input.length() > 0)
{
handleSerialInput(input, throttle, continuous_throttle);
handleSerialInput(input);
}
}
// Send throttle value in continuous mode
if (continuous_throttle)
// 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 (continuous_throttle && (esp_timer_get_time() - last_stats_print >= 3000000))
if ((esp_timer_get_time() - last_serial_update >= 3000000))
{
motor01.printDShotInfo();
USB_SERIAL.println(" ");
// Get Motor RPM if bidirectional
if (IS_BIDIRECTIONAL)
// 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);
@ -90,7 +138,55 @@ void loop()
USB_SERIAL.println("Type 'help' to show Menu");
// Time Stamp
last_stats_print = esp_timer_get_time();
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;
}
}
@ -98,50 +194,74 @@ void loop()
void printMenu()
{
USB_SERIAL.println(" ");
USB_SERIAL.println("*******************************************");
USB_SERIAL.println(" DShotRMT Demo ");
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("***********************************************");
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("***********************************************");
USB_SERIAL.println(" h / help - Show this Menu");
USB_SERIAL.println("*******************************************");
USB_SERIAL.println("***********************************************");
USB_SERIAL.printf(" Current Status: %s\n", isArmed ? "ARMED" : "DISARMED");
USB_SERIAL.println("***********************************************");
}
//
void handleSerialInput(const String &input, uint16_t &throttle, bool &continuous_throttle)
// Handle serial inputs and updates global variables
void handleSerialInput(const String &input)
{
if (input == "0")
if (input == "arm")
{
setArmingStatus(true);
}
else if (input == "disarm")
{
setArmingStatus(false);
}
else if (input == "0")
{
// Stop motor
throttle = 0;
continuous_throttle = true;
continuous_throttle = false;
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");
}
}
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);
@ -156,24 +276,127 @@ void handleSerialInput(const String &input, uint16_t &throttle, bool &continuous
{
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);
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;
}
// 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;
}
}

354
web/web_content.h Normal file
View File

@ -0,0 +1,354 @@
/**
* @file web_content.h
* @brief DShotRMT_Control Website content with Arming Switch
* @author Wastl Kraus
* @date 2025-09-09
* @license MIT
*/
// Web Site Content
const char index_html[] PROGMEM = R"rawliteral(
<!DOCTYPE html>
<html lang="de">
<head>
<meta charset="UTF-8">
<meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=no">
<title>DShotRMT_Web</title>
<style>
body {
font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, "Helvetica Neue", Arial, sans-serif;
display: flex;
flex-direction: column;
align-items: center;
background-color: #2c3e50;
color: #ecf0f1;
margin: 0;
height: 100dvh;
justify-content: center;
}
h1 {
font-size: 1.5em;
font-weight: bold;
margin-bottom: 20px;
}
.control-container {
background-color: #34495e;
padding: 30px;
border-radius: 12px;
box-shadow: 0 4px 8px rgba(0, 0, 0, 0.2);
text-align: center;
width: 85%;
max-width: 500px;
}
/* Arming Switch Styles */
.arming-section {
margin-bottom: 25px;
padding: 15px;
background-color: #2c3e50;
border-radius: 8px;
border: 2px solid #e74c3c;
}
.arming-switch {
display: flex;
align-items: center;
justify-content: center;
gap: 15px;
margin-bottom: 10px;
}
.switch {
position: relative;
display: inline-block;
width: 60px;
height: 34px;
}
.switch input {
opacity: 0;
width: 0;
height: 0;
}
.slider-switch {
position: absolute;
cursor: pointer;
top: 0;
left: 0;
right: 0;
bottom: 0;
background-color: #e74c3c;
-webkit-transition: .4s;
transition: .4s;
border-radius: 34px;
}
.slider-switch:before {
position: absolute;
content: "";
height: 26px;
width: 26px;
left: 4px;
bottom: 4px;
background-color: white;
-webkit-transition: .4s;
transition: .4s;
border-radius: 50%;
}
input:checked+.slider-switch {
background-color: #27ae60;
}
input:checked+.slider-switch:before {
-webkit-transform: translateX(26px);
-ms-transform: translateX(26px);
transform: translateX(26px);
}
.arming-label {
font-size: 1.2em;
font-weight: bold;
}
.arming-status {
font-size: 0.9em;
margin-top: 5px;
}
.status-disarmed {
color: #e74c3c;
}
.status-armed {
color: #27ae60;
}
/* Throttle Section */
.throttle-section {
opacity: 0.3;
transition: opacity 0.3s ease;
}
.throttle-section.armed {
opacity: 1;
}
#throttleValue {
font-size: 2.5em;
font-weight: bold;
color: #3498db;
margin-bottom: 20px;
}
#throttleSlider {
appearance: none;
width: 100%;
height: 25px;
background: #2c3e50;
outline: none;
border-radius: 12px;
}
#throttleSlider::-webkit-slider-thumb {
-webkit-appearance: none;
appearance: none;
width: 40px;
height: 40px;
background: #3498db;
cursor: pointer;
border-radius: 50%;
}
#throttleSlider::-moz-range-thumb {
width: 40px;
height: 40px;
background: #3498db;
cursor: pointer;
border-radius: 50%;
border: none;
}
.stats {
margin-top: 20px;
font-size: 1.2em;
}
.stats span {
font-weight: bold;
color: #e67e22;
}
.warning-text {
color: #e74c3c;
font-size: 0.9em;
margin-top: 10px;
font-style: italic;
}
</style>
</head>
<body>
<h1>DShotRMT Control Demo</h1>
<div class="control-container">
<!-- Arming Section -->
<div class="arming-section">
<div class="arming-switch">
<span class="arming-label">ARMING SWITCH</span>
<label class="switch">
<input type="checkbox" id="armingSwitch">
<span class="slider-switch"></span>
</label>
</div>
<div class="arming-status">
<span id="armingStatus" class="status-disarmed">DISARMED</span>
</div>
<div class="warning-text">
⚠️ Motor control disabled when disarmed
</div>
</div>
<!-- Throttle Section -->
<div class="throttle-section" id="throttleSection">
<div id="throttleValue">0</div>
<input type="range" min="48" max="2047" value="0" id="throttleSlider" disabled>
</div>
<div class="stats">
RPM: <span id="rpmValue">--</span>
</div>
</div>
<script>
const gateway = `ws://${window.location.hostname}/ws`;
let websocket;
let isArmed = false;
// Init WebSocket
window.addEventListener('load', () => {
initWebSocket();
});
function initWebSocket() {
console.log('Trying to open a WebSocket connection...');
websocket = new WebSocket(gateway);
websocket.onopen = onOpen;
websocket.onclose = onClose;
websocket.onmessage = onMessage;
}
function onOpen(event) {
console.log('Connection opened');
}
function onClose(event) {
console.log('Connection closed');
setTimeout(initWebSocket, 2000);
}
// Getting data from sketch
function onMessage(event) {
try {
const data = JSON.parse(event.data);
if (data.rpm !== undefined) {
document.getElementById('rpmValue').innerText = data.rpm;
}
// Sync web and serial throttle inputs
if (data.throttle !== undefined) {
if (isArmed) {
document.getElementById('throttleSlider').value = data.throttle;
document.getElementById('throttleValue').innerText = data.throttle;
}
}
// Sync arming status if received from ESP32
if (data.armed !== undefined) {
isArmed = data.armed;
updateArmingUI();
}
} catch (e) {
console.error("Error parsing JSON: ", e);
}
}
// Elements
const slider = document.getElementById('throttleSlider');
const sliderValue = document.getElementById('throttleValue');
const armingSwitch = document.getElementById('armingSwitch');
const armingStatus = document.getElementById('armingStatus');
const throttleSection = document.getElementById('throttleSection');
// Arming switch event
armingSwitch.addEventListener('change', () => {
isArmed = armingSwitch.checked;
updateArmingUI();
// Send arming status to ESP32
const message = JSON.stringify({
"armed": isArmed,
"throttle": isArmed ? parseInt(slider.value) : 0
});
console.log("Sending arming status: ", message);
websocket.send(message);
// If disarmed, set throttle to 0
if (!isArmed) {
slider.value = 0;
sliderValue.innerText = 0;
}
});
// Update UI based on arming status
function updateArmingUI() {
if (isArmed) {
armingStatus.innerText = 'ARMED';
armingStatus.className = 'status-armed';
throttleSection.classList.add('armed');
slider.disabled = false;
} else {
armingStatus.innerText = 'DISARMED';
armingStatus.className = 'status-disarmed';
throttleSection.classList.remove('armed');
slider.disabled = true;
slider.value = 0;
sliderValue.innerText = 0;
}
}
// Throttle slider event
slider.addEventListener('input', () => {
if (!isArmed) {
slider.disabled = true;
slider.value = 0;
sliderValue.innerText = 0;
return;
}
const throttle = slider.value;
sliderValue.innerText = throttle;
const message = JSON.stringify({
"throttle": parseInt(throttle),
"armed": isArmed
});
console.log("Sending throttle: ", message);
websocket.send(message);
});
// Initialize UI
updateArmingUI();
</script>
</body>
</html>
)rawliteral";