RMT timing rewritten
This commit is contained in:
Wastl Kraus
parent
034bd59b64
commit
8d07812548
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@ -8,14 +8,28 @@
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#include "DShotRMT.h"
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// --- HELPERS ---
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void printDShotResult(dshot_result_t &result, Stream &output)
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{
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output.printf("Status: %s - %s", result.success ? "SUCCESS" : "FAILED", result.msg);
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// Print telemetry data if available
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if (result.success && (result.erpm > 0 || result.motor_rpm > 0))
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{
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output.printf(" | eRPM: %u, Motor RPM: %u", result.erpm, result.motor_rpm);
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}
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output.println();
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}
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// Timing parameters for each DShot mode
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// Format: {frame_length_us, ticks_per_bit, ticks_one_high, ticks_one_low, ticks_zero_high, ticks_zero_low}
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static constexpr dshot_timing_t DSHOT_TIMINGS[] = {
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{0, 0, 0, 0, 0, 0}, // DSHOT_OFF
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{128, 64, 48, 16, 24, 40}, // DSHOT150
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{64, 32, 24, 8, 12, 20}, // DSHOT300
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{32, 16, 12, 4, 6, 10}, // DSHOT600
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{16, 8, 6, 2, 3, 5} // DSHOT1200
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// Format: {frame_length_ticks, ticks_per_bit, t1h_ticks, t1l_ticks, t0h_ticks, t0l_ticks}
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static constexpr dshot_timing_us_t DSHOT_TIMING_US[] = {
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{0.00, 0.00},
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{6.67, 5.00},
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{3.33, 2.50},
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{1.67, 1.25},
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{0.83, 0.67}
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};
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// Constructor with GPIO number
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@ -26,9 +40,10 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional)
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_last_erpm_atomic(0),
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_telemetry_ready_flag(false),
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_frame_timer_us(0),
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_timing_config(DSHOT_TIMINGS[mode]),
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_dshot_timing(DSHOT_TIMING_US[mode]),
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_rmt_ticks{0},
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_last_throttle(DSHOT_CMD_MOTOR_STOP),
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_last_transmission_time(0),
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_last_transmission_time_us(0),
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_parsed_packet(0),
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_packet{0},
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_bitPositions{0},
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@ -42,8 +57,15 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional)
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_transmit_config{},
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_receive_config{}
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{
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// Calculate frame timing including switch/pause time
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_frame_timer_us = _timing_config.frame_length_us + DSHOT_PAUSE_US;
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// Convert DShot timings (us) to RMT ticks
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_rmt_ticks.ticks_per_bit = static_cast<uint16_t>(_dshot_timing.bit_length_us * RMT_TICKS_PER_US);
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_rmt_ticks.t1h_ticks = static_cast<uint16_t>(_dshot_timing.t1h_lenght_us * RMT_TICKS_PER_US);
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_rmt_ticks.t0h_ticks = _rmt_ticks.t1h_ticks >> 1; // High time for a 1 is always double that of a 0
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_rmt_ticks.t1l_ticks = _rmt_ticks.ticks_per_bit - _rmt_ticks.t1h_ticks;
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_rmt_ticks.t0l_ticks = _rmt_ticks.ticks_per_bit - _rmt_ticks.t0h_ticks;
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// Pause between frames is frame time in us, some padding and about 30 us is added by hardware
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_frame_timer_us = (static_cast<uint32_t>(_dshot_timing.bit_length_us * DSHOT_BITS_PER_FRAME) << 1) + DSHOT_PADDING_US;
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// Double frame time for bidirectional mode (includes response time)
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if (_is_bidirectional)
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@ -54,7 +76,7 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional)
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// Constructor using pin number
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DShotRMT::DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional)
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: DShotRMT((gpio_num_t)pin_nr, mode, is_bidirectional)
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: DShotRMT(static_cast<gpio_num_t>(pin_nr), mode, is_bidirectional)
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{
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// Delegates to primary constructor with type cast
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}
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@ -152,7 +174,6 @@ dshot_result_t DShotRMT::_initTXChannel()
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// Init RMT RX channel
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dshot_result_t DShotRMT::_initRXChannel()
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{
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// Direct RMT symbol processing - Performance optimized
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_rx_event_callbacks.on_recv_done = _rmt_rx_done_callback;
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@ -258,7 +279,7 @@ dshot_result_t DShotRMT::sendCommand(uint16_t command)
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dshot_result_t DShotRMT::getTelemetry(uint16_t magnet_count)
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{
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// Result container with unified structure
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dshot_result_t result = {false, TELEMETRY_FAILED, NO_DSHOT_ERPM, NO_DSHOT_RPM};
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dshot_result_t result = {false, TELEMETRY_FAILED, NO_DSHOT_TELEMETRY, NO_DSHOT_TELEMETRY};
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// Check if bidirectional mode is enabled
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if (!_is_bidirectional)
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@ -277,7 +298,7 @@ dshot_result_t DShotRMT::getTelemetry(uint16_t magnet_count)
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//
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if (erpm != DSHOT_NULL_PACKET && magnet_count >= 1)
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{
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uint8_t pole_pairs = max(MIN_POLE_PAIRS, (magnet_count / MAGNETS_PER_POLE_PAIR));
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uint8_t pole_pairs = max(POLE_PAIRS_MIN, (magnet_count / MAGNETS_PER_POLE_PAIR));
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uint32_t motor_rpm = (erpm / pole_pairs);
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result.success = true;
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@ -426,9 +447,9 @@ bool DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t
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bool bit = (_parsed_packet >> bit_position) & 0b0000000000000001;
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symbols[i].level0 = _level0;
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symbols[i].duration0 = bit ? _timing_config.ticks_one_high : _timing_config.ticks_zero_high;
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symbols[i].duration0 = bit ? _rmt_ticks.t1h_ticks : _rmt_ticks.t0h_ticks;
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symbols[i].level1 = _level1;
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symbols[i].duration1 = bit ? _timing_config.ticks_one_low : _timing_config.ticks_zero_low;
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symbols[i].duration1 = bit ? _rmt_ticks.t1l_ticks : _rmt_ticks.t0l_ticks;
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}
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return DSHOT_OK;
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@ -487,7 +508,7 @@ bool DShotRMT::_timer_signal()
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uint64_t current_time = esp_timer_get_time();
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// Handle potential overflow
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uint64_t elapsed = current_time - _last_transmission_time;
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uint64_t elapsed = current_time - _last_transmission_time_us;
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return elapsed >= _frame_timer_us;
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}
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@ -495,7 +516,7 @@ bool DShotRMT::_timer_signal()
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// Reset transmission timer to current time
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bool DShotRMT::_timer_reset()
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{
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_last_transmission_time = esp_timer_get_time();
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_last_transmission_time_us = esp_timer_get_time();
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return DSHOT_OK;
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}
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@ -546,17 +567,3 @@ void DShotRMT::printCpuInfo(Stream &output) const
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output.printf("XTAL Freq = %lu MHz\n", getXtalFrequencyMhz());
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output.printf("APB Freq = %lu Hz\n", getApbFrequency());
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}
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// --- HELPERS ---
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void printDShotResult(dshot_result_t &result, Stream &output)
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{
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output.printf("Status: %s - %s", result.success ? "SUCCESS" : "FAILED", result.msg);
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// Print telemetry data if available
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if (result.success && (result.erpm > 0 || result.motor_rpm > 0))
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{
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output.printf(" | eRPM: %u, Motor RPM: %u", result.erpm, result.motor_rpm);
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}
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output.println();
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}
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@ -20,29 +20,7 @@ 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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@ -62,16 +40,22 @@ typedef struct
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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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// DShot Timings
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typedef struct
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{
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double bit_length_us;
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double t1h_lenght_us;
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} dshot_timing_us_t;
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// RMT Ticks 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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uint16_t t1h_ticks;
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uint16_t t1l_ticks;
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uint16_t t0h_ticks;
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uint16_t t0l_ticks;
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} rmt_ticks_t;
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// Unified DShot result structure
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typedef struct
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@ -149,11 +133,12 @@ private:
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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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rmt_ticks_t _rmt_ticks;
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const dshot_timing_us_t &_dshot_timing;
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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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uint64_t _last_transmission_time_us;
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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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@ -193,13 +178,12 @@ private:
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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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static constexpr auto const DSHOT_TELEMETRY_INVALID = 0b1111111111111111;
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// --- CONSTANTS & ERROR MESSAGES ---
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static constexpr bool DSHOT_OK = 0;
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@ -226,4 +210,26 @@ private:
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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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// Configuration Constants
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static constexpr auto const DSHOT_NULL_PACKET = 0b0000000000000000;
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static constexpr auto const DSHOT_FULL_PACKET = 0b1111111111111111;
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static constexpr auto const DSHOT_CRC_MASK = 0b0000000000001111;
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static constexpr auto const DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
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static constexpr auto const DSHOT_RMT_RESOLUTION = 8 * 1000 * 1000; // 8 MHz resolution
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static constexpr auto const RMT_TICKS_PER_US = DSHOT_RMT_RESOLUTION / (1 * 1000 * 1000); // RMT Ticks per microsecond, based on the RMT resolution in MHz
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static constexpr auto const RMT_BUFFER_SIZE = DSHOT_BITS_PER_FRAME;
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static constexpr auto const DSHOT_RX_TIMEOUT_MS = 2; // Never reached
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static constexpr auto const DSHOT_PADDING_US = 3;
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static constexpr auto const RMT_BUFFER_SYMBOLS = 64;
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static constexpr auto const RMT_QUEUE_DEPTH = 1;
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static constexpr auto const 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 const POLE_PAIRS_MIN = 1;
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static constexpr auto const MAGNETS_PER_POLE_PAIR = 2;
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static constexpr auto const NO_DSHOT_TELEMETRY = 0;
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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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static constexpr auto const DSHOT_PULSE_MIN = 3000;
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static constexpr auto const DSHOT_PULSE_MAX = 60000;
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};
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