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DShotRMT
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...fixed frame lenght 

....fixed and fixed frame lenght
This commit is contained in:
Wastl Kraus 2025-07-25 17:41:38 +02:00
parent 4db92a9b31
commit 90eaecd61d
2 changed files with 42 additions and 12 deletions
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47
DShotRMT.cpp
View File

@ -12,8 +12,38 @@
// This class provides an abstraction for sending and optionally receiving DShot frames.
// It uses ESP32's RMT peripheral for precise timing control, including BiDirectional RX.
DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool isBidirectional, uint8_t pauseDuration)
: _gpio(gpio), _mode(mode), _isBidirectional(isBidirectional), _pauseDuration(pauseDuration) {}
DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool isBidirectional)
: _gpio(gpio), _mode(mode), _isBidirectional(isBidirectional)
{
// Setting up fixed DShot Frame length
switch (_mode)
{
case DSHOT_OFF:
_frameLenght = 0;
break;
case DSHOT150:
_frameLenght = 128;
break;
case DSHOT300:
_frameLenght = 64;
break;
case DSHOT600:
_frameLenght = 32;
break;
case DSHOT1200:
_frameLenght = 16;
break;
default:
break;
}
// DShot Frame length incl. DShot answer duration
if (_isBidirectional)
{
_frameLenght += _frameLenght;
}
}
// Initializes RMT TX and RX channels and encoder configuration
void DShotRMT::begin()
@ -85,13 +115,11 @@ void DShotRMT::begin()
void DShotRMT::setThrottle(uint16_t throttle)
{
// Simple timer
static long last_time = 0;
static unsigned long last_time = NULL;
// Keep a pause between the frames
if (micros() - last_time >= _pauseDuration)
// Ensure frame lenght for compatibility
if (micros() - last_time >= _frameLenght)
{
last_time = micros();
// Clamp input range for throttle value
_dshot_packet.throttle_value = constrain(throttle, DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX) & 0b0000011111111111;
@ -99,7 +127,7 @@ void DShotRMT::setThrottle(uint16_t throttle)
calculateCRC(&_dshot_packet);
// Encode RMT symbols
size_t count = 0;
size_t count = NULL;
encodeDShotTX(&_dshot_packet, _tx_symbols, count);
// Transmit the packet
@ -108,6 +136,9 @@ void DShotRMT::setThrottle(uint16_t throttle)
Serial.println("Failed to transmit DShot packet");
return;
}
// Timestamp
last_time = micros();
}
}

7
DShotRMT.h
View File

@ -54,7 +54,7 @@ class DShotRMT
{
public:
// Constructor: initializes configuration state
DShotRMT(gpio_num_t gpio, dshot_mode_t mode = DSHOT300, bool isBidirectional = false, uint8_t pauseDuration = 120);
DShotRMT(gpio_num_t gpio, dshot_mode_t mode = DSHOT300, bool isBidirectional = false);
// Initializes the RMT TX and RX channels
void begin();
@ -69,8 +69,7 @@ public:
// Accessors for GPIO and DShot settings
gpio_num_t getGPIO() const { return _gpio; }
dshot_mode_t getDShotMode() const { return _mode; }
uint8_t getPauseDuration() const { return _pauseDuration; }
void setPauseDuration(uint8_t pauseDuration) { _pauseDuration = pauseDuration; }
uint8_t getFrameLenght() const { return _frameLenght; }
protected:
// Calculates the checksum for a DShot packet
@ -90,7 +89,7 @@ private:
gpio_num_t _gpio;
dshot_mode_t _mode;
bool _isBidirectional;
uint8_t _pauseDuration;
uint16_t _frameLenght;
// --- DShot Packets Container ---
uint16_t _rx_packet = DSHOT_NULL_PACKET;