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DShotRMT
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Use official RMT Encoder API

This commit is contained in:
Wastl Kraus 2025-09-26 17:07:05 +02:00
parent 3f3f1ff90c
commit 96b5595c72
9 changed files with 259 additions and 303 deletions
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230
.github/workflows/ci.yml vendored
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@ -1,98 +1,92 @@
# This GitHub Actions workflow is designed to ensure code quality and
# successful compilation for an ESP32 Arduino library.
# It runs on every push to any branch.
name: ESP32 Build & Quality Check name: ESP32 Build & Quality Check
# Set permissions for the GitHub token.
# 'contents: read' is required to checkout the repository.
permissions: permissions:
contents: read contents: read
# Define the trigger for the workflow.
# It runs on any push to any branch.
on: on:
push: push:
branches: [ '*' ] branches: [ '*' ]
# Concurrency control ensures that only the latest commit for a branch
# runs, canceling any workflows already in progress for the same branch.
concurrency: concurrency:
group: ${{ github.workflow }}-${{ github.ref }} group: ${{ github.workflow }}-${{ github.ref }}
cancel-in-progress: true cancel-in-progress: true
jobs: jobs:
# ============================================================================ # ============================================================================
# Code Quality & Linting # Prepare Environment & Cache
# This job installs the Arduino core and libraries and saves them to a cache
# for later jobs to use.
# ============================================================================ # ============================================================================
prepare-cache:
quality-check-linux: name: Prepare Cache (Linux)
name: Arduino Lint Check (Linux)
runs-on: ubuntu-latest runs-on: ubuntu-latest
timeout-minutes: 10
steps: steps:
- uses: actions/checkout@v5 - name: Checkout Repository
- uses: arduino/setup-arduino-cli@v2 uses: actions/checkout@v4
- name: Restore Arduino Core Cache
id: cache-core-linux - name: Setup Arduino CLI
uses: actions/cache/restore@v4 uses: arduino/setup-arduino-cli@v2
- name: Restore Arduino Core & Libraries Cache
uses: actions/cache@v4
id: cache-arduino
with: with:
path: | path: |
~/.arduino15/packages ~/.arduino15/packages
~/.arduino15/cache ~/.arduino15/cache
key: arduino-core-linux-esp32-v1 ~/Arduino/libraries
restore-keys: | key: linux-arduino-esp32-v2-${{ hashFiles('**/library.properties') }}
arduino-core-linux-
- name: Ensure ESP32 Core is installed (Linux) - name: Install Dependencies
if: steps.cache-arduino.outputs.cache-hit != 'true'
shell: bash shell: bash
run: | run: |
if [[ "${{ steps.cache-core-linux.outputs.cache-hit }}" != "true" ]]; then arduino-cli core update-index --additional-urls https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
arduino-cli core update-index --additional-urls https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json arduino-cli core install esp32:esp32
fi arduino-cli lib install "ArduinoJson"
if ! arduino-cli core list | grep -q 'esp32'; then mkdir -p "$HOME/Arduino/libraries"
arduino-cli core install esp32:esp32 git clone --depth=1 https://github.com/ESP32Async/ESPAsyncWebServer "$HOME/Arduino/libraries/ESPAsyncWebServer"
fi git clone --depth=1 https://github.com/ESP32Async/AsyncTCP "$HOME/Arduino/libraries/AsyncTCP"
- name: Save Arduino Core Cache
if: always() && steps.cache-core-linux.outputs.cache-hit != 'true'
uses: actions/cache/save@v4
with:
path: |
~/.arduino15/packages
~/.arduino15/cache
key: arduino-core-linux-esp32-v1
- uses: arduino/arduino-lint-action@v2
with:
path: ${{ github.workspace }}
compliance: strict
library-manager: update
verbose: true
quality-check-windows: # ============================================================================
name: Arduino Lint Check (Windows) # Code Quality & Linting
runs-on: windows-latest # This job runs after the cache is prepared and checks the code quality.
# ============================================================================
quality-check:
name: Arduino Lint Check (Linux)
needs: prepare-cache
runs-on: ubuntu-latest
timeout-minutes: 10 timeout-minutes: 10
steps: steps:
- uses: actions/checkout@v5 - name: Checkout Repository
- uses: arduino/setup-arduino-cli@v2 uses: actions/checkout@v4
- name: Restore Arduino Core Cache
id: cache-core-win - name: Setup Arduino CLI
uses: actions/cache/restore@v4 uses: arduino/setup-arduino-cli@v2
- name: Restore Arduino Core & Libraries Cache
uses: actions/cache@v4
with: with:
path: | path: |
~/.arduino15/packages ~/.arduino15/packages
~/.arduino15/cache ~/.arduino15/cache
key: arduino-core-windows-esp32-v1 ~/Arduino/libraries
restore-keys: | key: linux-arduino-esp32-v2-${{ hashFiles('**/library.properties') }}
arduino-core-windows-
- name: Ensure ESP32 Core is installed (Windows) - name: Run Arduino Lint
if: steps.cache-core-win.outputs.cache-hit != 'true' uses: arduino/arduino-lint-action@v2
shell: pwsh
run: |
if ($env:cache-core-win.outputs.cache-hit -ne 'true') {
arduino-cli core update-index --additional-urls https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
}
if (-not (arduino-cli core list | Select-String 'esp32')) {
arduino-cli core install esp32:esp32
}
- name: Save Arduino Core Cache
if: always() && steps.cache-core-win.outputs.cache-hit != 'true'
uses: actions/cache/save@v4
with:
path: |
~/.arduino15/packages
~/.arduino15/cache
key: arduino-core-windows-esp32-v1
- uses: arduino/arduino-lint-action@v2
with: with:
path: ${{ github.workspace }} path: ${{ github.workspace }}
compliance: strict compliance: strict
@ -101,114 +95,66 @@ jobs:
# ============================================================================ # ============================================================================
# Compilation Test # Compilation Test
# This job compiles all example sketches.
# ============================================================================ # ============================================================================
compile-sketches:
compile-all-sketches: name: Compile ${{ matrix.sketch }} (Linux)
name: Compile ${{ matrix.sketch }} (${{ matrix.os }}) needs: prepare-cache
runs-on: ${{ matrix.os }} runs-on: ubuntu-latest
timeout-minutes: 15 timeout-minutes: 15
strategy: strategy:
fail-fast: false fail-fast: false
matrix: matrix:
os: [ubuntu-latest, windows-latest]
sketch: sketch:
- examples/throttle_percent/throttle_percent.ino - examples/throttle_percent/throttle_percent.ino
- examples/dshot300/dshot300.ino - examples/dshot300/dshot300.ino
- examples/web_control/web_control.ino - examples/web_control/web_control.ino
- examples/web_client/web_client.ino - examples/web_client/web_client.ino
steps: steps:
- uses: actions/checkout@v5 - name: Checkout Repository
- uses: arduino/setup-arduino-cli@v2 uses: actions/checkout@v4
- name: Setup Arduino CLI
uses: arduino/setup-arduino-cli@v2
- name: Restore Arduino Core & Libraries Cache - name: Restore Arduino Core & Libraries Cache
id: cache-all uses: actions/cache@v4
uses: actions/cache/restore@v4
with: with:
path: | path: |
~/.arduino15/packages ~/.arduino15/packages
~/.arduino15/cache ~/.arduino15/cache
~/Arduino/libraries ~/Arduino/libraries
key: ${{ runner.os }}-arduino-full-esp32-v1-${{ hashFiles('**/library.properties', '**/platform.txt') }} key: linux-arduino-esp32-v2-${{ hashFiles('**/library.properties') }}
restore-keys: |
${{ runner.os }}-arduino-full-esp32-v1- - name: Compile Sketch
- name: Ensure ESP32 Core and Dependencies (Linux)
if: runner.os == 'Linux' && steps.cache-all.outputs.cache-hit != 'true'
shell: bash
run: |
arduino-cli core update-index --additional-urls https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
arduino-cli core install esp32:esp32
mkdir -p ~/Arduino/libraries
git clone --depth=1 https://github.com/bblanchon/ArduinoJson.git ~/Arduino/libraries/ArduinoJson
git clone --depth=1 https://github.com/ESP32Async/ESPAsyncWebServer ~/Arduino/libraries/ESPAsyncWebServer
git clone --depth=1 https://github.com/ESP32Async/AsyncTCP ~/Arduino/libraries/AsyncTCP
- name: Ensure ESP32 Core and Dependencies (Windows)
if: runner.os == 'Windows' && steps.cache-all.outputs.cache-hit != 'true'
shell: pwsh
run: |
arduino-cli core update-index --additional-urls https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
arduino-cli core install esp32:esp32
if (-not (Test-Path -Path "$env:USERPROFILE/Arduino/libraries/ArduinoJson")) {
git clone --depth=1 https://github.com/bblanchon/ArduinoJson.git "$env:USERPROFILE/Arduino/libraries/ArduinoJson"
}
if (-not (Test-Path -Path "$env:USERPROFILE/Arduino/libraries/ESPAsyncWebServer")) {
git clone --depth=1 https://github.com/ESP32Async/ESPAsyncWebServer "$env:USERPROFILE/Arduino/libraries/ESPAsyncWebServer"
}
if (-not (Test-Path -Path "$env:USERPROFILE/Arduino/libraries/AsyncTCP")) {
git clone --depth=1 https://github.com/ESP32Async/AsyncTCP "$env:USERPROFILE/Arduino/libraries/AsyncTCP"
}
- name: Save Arduino Core & Libraries Cache
if: always() && steps.cache-all.outputs.cache-hit != 'true'
uses: actions/cache/save@v4
with:
path: |
~/.arduino15/packages
~/.arduino15/cache
~/Arduino/libraries
key: ${{ runner.os }}-arduino-full-esp32-v1-${{ hashFiles('**/library.properties', '**/platform.txt') }}
- name: Compile Sketch (Linux)
shell: bash
if: runner.os == 'Linux'
run: arduino-cli compile --fqbn esp32:esp32:esp32 --library ${{ github.workspace }} "${{ matrix.sketch }}" run: arduino-cli compile --fqbn esp32:esp32:esp32 --library ${{ github.workspace }} "${{ matrix.sketch }}"
- name: Compile Sketch (Windows)
shell: pwsh
if: runner.os == 'Windows'
run: arduino-cli compile --fqbn esp32:esp32:esp32 --library ${{ github.workspace }} "${{ matrix.sketch }}"
# ============================================================================ # ============================================================================
# Build Status Report # Build Status Report
# This job runs last and provides a summary of the build status.
# ============================================================================ # ============================================================================
build-summary: build-summary:
name: Build Summary name: Build Summary
runs-on: ubuntu-latest runs-on: ubuntu-latest
if: always() if: always() # This ensures the job runs even if previous jobs fail
needs: needs:
- quality-check-linux - quality-check
- quality-check-windows - compile-sketches
- compile-all-sketches
steps: steps:
- name: Create Build Summary - name: Create Build Summary
run: | run: |
echo "# 🔧 DShotRMT Build Report" >> $GITHUB_STEP_SUMMARY echo "# 🔧 DShotRMT Build Report" >> $GITHUB_STEP_SUMMARY
echo "| Check | Status | Details |" >> $GITHUB_STEP_SUMMARY echo "| Check | Status | Details |" >> $GITHUB_STEP_SUMMARY
echo "|-------|--------|---------|" >> $GITHUB_STEP_SUMMARY echo "|-------|--------|---------|" >> $GITHUB_STEP_SUMMARY
if [[ "${{ needs.quality-check.result }}" == "success" ]]; then
[[ "${{ needs.quality-check-linux.result }}" == "success" && "${{ needs.quality-check-windows.result }}" == "success" ]] \ echo "| 📋 Quality Check | ✅ Passed | Arduino Lint completed successfully |" >> $GITHUB_STEP_SUMMARY
&& echo "| 📋 Quality Check | ✅ Passed | Arduino Lint completed successfully |" >> $GITHUB_STEP_SUMMARY \ else
|| echo "| 📋 Quality Check | ❌ Failed | Check Arduino Lint report |" >> $GITHUB_STEP_SUMMARY echo "| 📋 Quality Check | ❌ Failed | Check Arduino Lint report for errors |" >> $GITHUB_STEP_SUMMARY
fi
[[ "${{ needs.compile-all-sketches.result }}" == "success" ]] \ if [[ "${{ needs.compile-sketches.result }}" == "success" ]]; then
&& echo "| 🔨 Compilation | ✅ Passed | All examples compiled successfully |" >> $GITHUB_STEP_SUMMARY \ echo "| 🔨 Compilation | ✅ Passed | All examples compiled successfully |" >> $GITHUB_STEP_SUMMARY
|| echo "| 🔨 Compilation | ❌ Failed | Compilation errors detected |" >> $GITHUB_STEP_SUMMARY else
echo "| 🔨 Compilation | ❌ Failed | One or more examples failed to compile |" >> $GITHUB_STEP_SUMMARY
echo "" >> $GITHUB_STEP_SUMMARY fi
[[ "${{ needs.quality-check-linux.result }}" == "success" && "${{ needs.quality-check-windows.result }}" == "success" && "${{ needs.compile-all-sketches.result }}" == "success" ]] \
&& echo "## 🎉 All Checks Passed!" >> $GITHUB_STEP_SUMMARY \
&& echo "Your DShotRMT library is ready for deployment." >> $GITHUB_STEP_SUMMARY \
|| echo "## ⚠️ Action Required" >> $GITHUB_STEP_SUMMARY \
&& echo "Please review the failed checks and address any issues." >> $GITHUB_STEP_SUMMARY

2
README.md
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@ -2,7 +2,7 @@
[![Arduino CI](https://github.com/derdoktor667/DShotRMT/actions/workflows/ci.yml/badge.svg)](https://github.com/derdoktor667/DShotRMT/actions/workflows/ci.yml) [![Arduino CI](https://github.com/derdoktor667/DShotRMT/actions/workflows/ci.yml/badge.svg)](https://github.com/derdoktor667/DShotRMT/actions/workflows/ci.yml)
A C++ library for generating DShot signals on ESP32 microcontrollers using the **modern ESP-IDF 5 RMT encoder API** (`rmt_tx.h` / `rmt_rx.h`). It provides a simple, efficient, and hardware-timed way to control brushless motors in both Arduino and ESP-IDF projects. The legacy version using the old `rmt.h` API is available in the `oldAPI` branch. A C++ library for generating DShot signals on ESP32 microcontrollers using the **modern ESP-IDF 5 RMT encoder API** (`rmt_tx.h` / `rmt_rx.h`). It leverages the standard `rmt_bytes_encoder` to ensure an efficient, hardware-timed, and maintainable implementation. The library provides a simple way to control brushless motors in both Arduino and ESP-IDF projects. The legacy version using the old `rmt.h` API is available in the `oldAPI` branch.
## 🚀 Core Features ## 🚀 Core Features

10
examples/dshot300/dshot300.ino
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@ -88,7 +88,7 @@ void loop()
if (IS_BIDIRECTIONAL) if (IS_BIDIRECTIONAL)
{ {
dshot_result_t telem_result = motor01.getTelemetry(); dshot_result_t telem_result = motor01.getTelemetry();
printDShotResult(telem_result); DShotRMT::printDShotResult(telem_result);
} }
USB_SERIAL.println("Type 'help' to show Menu"); USB_SERIAL.println("Type 'help' to show Menu");
@ -128,7 +128,7 @@ void handleSerialInput(const String &input, uint16_t &throttle, bool &continuous
throttle = 0; throttle = 0;
continuous_throttle = true; continuous_throttle = true;
dshot_result_t result = motor01.sendCommand(DSHOT_CMD_MOTOR_STOP); dshot_result_t result = motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
printDShotResult(result); DShotRMT::printDShotResult(result);
} }
else if (input == "info") else if (input == "info")
{ {
@ -137,7 +137,7 @@ void handleSerialInput(const String &input, uint16_t &throttle, bool &continuous
else if (input == "rpm" && IS_BIDIRECTIONAL) else if (input == "rpm" && IS_BIDIRECTIONAL)
{ {
dshot_result_t result = motor01.getTelemetry(); dshot_result_t result = motor01.getTelemetry();
printDShotResult(result); DShotRMT::printDShotResult(result);
} }
else if (input.startsWith("cmd ")) else if (input.startsWith("cmd "))
{ {
@ -149,7 +149,7 @@ void handleSerialInput(const String &input, uint16_t &throttle, bool &continuous
if (cmd_num >= DSHOT_CMD_MOTOR_STOP && cmd_num <= DSHOT_CMD_MAX) if (cmd_num >= DSHOT_CMD_MOTOR_STOP && cmd_num <= DSHOT_CMD_MAX)
{ {
dshot_result_t result = motor01.sendCommand(cmd_num); dshot_result_t result = motor01.sendCommand(cmd_num);
printDShotResult(result); DShotRMT::printDShotResult(result);
} }
else else
{ {
@ -171,7 +171,7 @@ void handleSerialInput(const String &input, uint16_t &throttle, bool &continuous
continuous_throttle = true; continuous_throttle = true;
dshot_result_t result = motor01.sendThrottle(throttle); dshot_result_t result = motor01.sendThrottle(throttle);
printDShotResult(result); DShotRMT::printDShotResult(result);
} }
else else
{ {

8
examples/throttle_percent/throttle_percent.ino
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@ -94,7 +94,7 @@ void handleSerialInput(const String &input)
{ {
// Stop motor // Stop motor
dshot_result_t result = motor01.sendThrottlePercent(0.0f); dshot_result_t result = motor01.sendThrottlePercent(0.0f);
printDShotResult(result); DShotRMT::printDShotResult(result);
} }
else if (input == "info") else if (input == "info")
{ {
@ -103,7 +103,7 @@ void handleSerialInput(const String &input)
else if (input == "rpm" && IS_BIDIRECTIONAL) else if (input == "rpm" && IS_BIDIRECTIONAL)
{ {
dshot_result_t result = motor01.getTelemetry(); dshot_result_t result = motor01.getTelemetry();
printDShotResult(result); DShotRMT::printDShotResult(result);
} }
else if (input.startsWith("cmd ")) else if (input.startsWith("cmd "))
{ {
@ -113,7 +113,7 @@ void handleSerialInput(const String &input)
if (cmd_num >= DSHOT_CMD_MOTOR_STOP && cmd_num <= DSHOT_CMD_MAX) if (cmd_num >= DSHOT_CMD_MOTOR_STOP && cmd_num <= DSHOT_CMD_MAX)
{ {
dshot_result_t result = motor01.sendCommand(cmd_num); dshot_result_t result = motor01.sendCommand(cmd_num);
printDShotResult(result); DShotRMT::printDShotResult(result);
} }
else else
{ {
@ -132,7 +132,7 @@ void handleSerialInput(const String &input)
if (throttle_percent >= 0.0f && throttle_percent <= 100.0f) if (throttle_percent >= 0.0f && throttle_percent <= 100.0f)
{ {
dshot_result_t result = motor01.sendThrottlePercent(throttle_percent); dshot_result_t result = motor01.sendThrottlePercent(throttle_percent);
printDShotResult(result); DShotRMT::printDShotResult(result);
} }
else else
{ {

8
examples/web_client/web_client.ino
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@ -178,7 +178,7 @@ void loop()
if (IS_BIDIRECTIONAL && isArmed) if (IS_BIDIRECTIONAL && isArmed)
{ {
dshot_result_t telem_result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT); dshot_result_t telem_result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT);
printDShotResult(telem_result); DShotRMT::printDShotResult(telem_result);
} }
USB_SERIAL.println("Type 'help' to show Menu"); USB_SERIAL.println("Type 'help' to show Menu");
@ -495,7 +495,7 @@ void handleSerialInput(const String &input)
if (isArmed) if (isArmed)
{ {
dshot_result_t result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT); dshot_result_t result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT);
printDShotResult(result); DShotRMT::printDShotResult(result);
} }
else else
{ {
@ -520,7 +520,7 @@ void handleSerialInput(const String &input)
if (cmd_num >= DSHOT_CMD_MOTOR_STOP && cmd_num <= DSHOT_CMD_MAX) if (cmd_num >= DSHOT_CMD_MOTOR_STOP && cmd_num <= DSHOT_CMD_MAX)
{ {
dshot_result_t result = motor01.sendCommand(cmd_num); dshot_result_t result = motor01.sendCommand(cmd_num);
printDShotResult(result); DShotRMT::printDShotResult(result);
} }
else else
{ {
@ -581,7 +581,7 @@ void handleSerialInput(const String &input)
throttle = 0; throttle = 0;
continuous_throttle = false; continuous_throttle = false;
dshot_result_t result = motor01.sendCommand(DSHOT_CMD_MOTOR_STOP); dshot_result_t result = motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
printDShotResult(result); DShotRMT::printDShotResult(result);
return; return;
} }

8
examples/web_control/web_control.ino
View File

@ -146,7 +146,7 @@ void loop()
if (IS_BIDIRECTIONAL && isArmed) if (IS_BIDIRECTIONAL && isArmed)
{ {
dshot_result_t telem_result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT); dshot_result_t telem_result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT);
printDShotResult(telem_result); DShotRMT::printDShotResult(telem_result);
} }
USB_SERIAL.println("Type 'help' to show Menu"); USB_SERIAL.println("Type 'help' to show Menu");
@ -264,7 +264,7 @@ void handleSerialInput(const String &input)
if (isArmed) if (isArmed)
{ {
dshot_result_t result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT); dshot_result_t result = motor01.getTelemetry(MOTOR01_MAGNET_COUNT);
printDShotResult(result); DShotRMT::printDShotResult(result);
} }
else else
{ {
@ -288,7 +288,7 @@ void handleSerialInput(const String &input)
if (cmd_num >= DSHOT_CMD_MOTOR_STOP && cmd_num <= DSHOT_CMD_MAX) if (cmd_num >= DSHOT_CMD_MOTOR_STOP && cmd_num <= DSHOT_CMD_MAX)
{ {
dshot_result_t result = motor01.sendCommand(cmd_num); dshot_result_t result = motor01.sendCommand(cmd_num);
printDShotResult(result); DShotRMT::printDShotResult(result);
} }
else else
{ {
@ -341,7 +341,7 @@ void handleSerialInput(const String &input)
throttle = 0; throttle = 0;
continuous_throttle = false; continuous_throttle = false;
dshot_result_t result = motor01.sendCommand(DSHOT_CMD_MOTOR_STOP); dshot_result_t result = motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
printDShotResult(result); DShotRMT::printDShotResult(result);
return; return;
} }

181
src/DShotRMT.cpp
View File

@ -23,8 +23,8 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional, ui
_last_command_timestamp(0), _last_command_timestamp(0),
_encoded_frame_value(0), _encoded_frame_value(0),
_packet{0}, _packet{0},
_level0(1), // DShot standard: signal is idle-low, so pulses start by going HIGH _pulse_level(1), // DShot standard: signal is idle-low, so pulses start by going HIGH
_level1(0), // DShot standard: signal returns to LOW after the high pulse _idle_level(0), // DShot standard: signal returns to LOW after the high pulse
_rmt_tx_channel(nullptr), _rmt_tx_channel(nullptr),
_rmt_rx_channel(nullptr), _rmt_rx_channel(nullptr),
_dshot_encoder(nullptr), _dshot_encoder(nullptr),
@ -355,9 +355,25 @@ dshot_result_t DShotRMT::_initRXChannel()
dshot_result_t DShotRMT::_initDShotEncoder() dshot_result_t DShotRMT::_initDShotEncoder()
{ {
rmt_copy_encoder_config_t encoder_config = {}; rmt_bytes_encoder_config_t encoder_config = {
.bit0 = {
.duration0 = _rmt_ticks.t0h_ticks,
.level0 = _pulse_level,
.duration1 = _rmt_ticks.t0l_ticks,
.level1 = _idle_level,
},
.bit1 = {
.duration0 = _rmt_ticks.t1h_ticks,
.level0 = _pulse_level,
.duration1 = _rmt_ticks.t1l_ticks,
.level1 = _idle_level,
},
.flags = {
.msb_first = 1 // DShot is MSB first
}
};
if (rmt_new_copy_encoder(&encoder_config, &_dshot_encoder) != DSHOT_OK) if (rmt_new_bytes_encoder(&encoder_config, &_dshot_encoder) != DSHOT_OK)
{ {
return {false, dshot_msg_code_t::DSHOT_ERROR_ENCODER_INIT_FAILED}; return {false, dshot_msg_code_t::DSHOT_ERROR_ENCODER_INIT_FAILED};
} }
@ -424,50 +440,27 @@ void DShotRMT::_preCalculateRMTTicks()
dshot_result_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet) dshot_result_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
{ {
// Ensure enough time has passed since the last transmission // Ensure enough time has passed since the last transmission
if (!_timer_signal()) if (!_isFrameIntervalElapsed())
{ {
return {true, dshot_msg_code_t::DSHOT_ERROR_NONE}; return {true, dshot_msg_code_t::DSHOT_ERROR_NONE};
} }
rmt_symbol_word_t tx_symbols[DSHOT_BITS_PER_FRAME]; _encoded_frame_value = _buildDShotFrameValue(packet);
dshot_result_t result = _encodeDShotFrame(packet, tx_symbols);
if (!result.success) // The DShot frame is 16 bits, which is 2 bytes
{ size_t tx_size_bytes = sizeof(_encoded_frame_value);
return result;
}
size_t tx_size_bytes = DSHOT_BITS_PER_FRAME * sizeof(rmt_symbol_word_t); if (rmt_transmit(_rmt_tx_channel, _dshot_encoder, &_encoded_frame_value, tx_size_bytes, &_rmt_tx_config) != DSHOT_OK)
if (rmt_transmit(_rmt_tx_channel, _dshot_encoder, tx_symbols, tx_size_bytes, &_rmt_tx_config) != DSHOT_OK)
{ {
return {false, dshot_msg_code_t::DSHOT_ERROR_TRANSMISSION_FAILED}; return {false, dshot_msg_code_t::DSHOT_ERROR_TRANSMISSION_FAILED};
} }
_timer_reset(); // Reset the timer for the next frame _recordFrameTransmissionTime(); // Reset the timer for the next frame
return {true, dshot_msg_code_t::DSHOT_ERROR_TRANSMISSION_SUCCESS}; return {true, dshot_msg_code_t::DSHOT_ERROR_TRANSMISSION_SUCCESS};
} }
// This function needs to be fast, as it generates the RMT symbols just before sending
dshot_result_t IRAM_ATTR DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols)
{
_encoded_frame_value = _buildDShotFrameValue(packet);
for (int i = 0; i < DSHOT_BITS_PER_FRAME; ++i)
{
int bit_position = DSHOT_BITS_PER_FRAME - 1 - i;
bool bit = (_encoded_frame_value >> bit_position) & 1;
// A '1' bit has a longer high-time, a '0' bit has a shorter high-time
symbols[i].level0 = _level0; // Go HIGH
symbols[i].duration0 = bit ? _rmt_ticks.t1h_ticks : _rmt_ticks.t0h_ticks;
symbols[i].level1 = _level1; // Go LOW
symbols[i].duration1 = bit ? _rmt_ticks.t1l_ticks : _rmt_ticks.t0l_ticks;
}
return {true, dshot_msg_code_t::DSHOT_ERROR_ENCODING_SUCCESS};
}
// Placed in IRAM for high performance, as it's called from an ISR context // Placed in IRAM for high performance, as it's called from an ISR context
uint16_t IRAM_ATTR DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols) uint16_t IRAM_ATTR DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
@ -510,7 +503,7 @@ uint16_t IRAM_ATTR DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
} }
// Timing Control Functions // Timing Control Functions
bool IRAM_ATTR DShotRMT::_timer_signal() bool IRAM_ATTR DShotRMT::_isFrameIntervalElapsed()
{ {
// Check if the minimum interval between frames has passed // Check if the minimum interval between frames has passed
uint64_t current_time = esp_timer_get_time(); uint64_t current_time = esp_timer_get_time();
@ -518,11 +511,10 @@ bool IRAM_ATTR DShotRMT::_timer_signal()
return elapsed >= _frame_timer_us; return elapsed >= _frame_timer_us;
} }
bool DShotRMT::_timer_reset() void DShotRMT::_recordFrameTransmissionTime()
{ {
// Record the time of the current transmission // Record the time of the current transmission
_last_transmission_time_us = esp_timer_get_time(); _last_transmission_time_us = esp_timer_get_time();
return true;
} }
// Static Callback Functions // Static Callback Functions
@ -546,14 +538,123 @@ bool IRAM_ATTR DShotRMT::_on_rx_done(rmt_channel_handle_t rmt_rx_channel, const
return false; return false;
} }
void DShotRMT::printDShotResult(const dshot_result_t &result, Stream &output)
{
const char *msg_str;
switch (result.error_code)
{
case dshot_msg_code_t::DSHOT_ERROR_NONE:
msg_str = "None";
break;
case dshot_msg_code_t::DSHOT_ERROR_UNKNOWN:
msg_str = "Unknown Error!";
break;
case dshot_msg_code_t::DSHOT_ERROR_TX_INIT_FAILED:
msg_str = "TX RMT channel init failed!";
break;
case dshot_msg_code_t::DSHOT_ERROR_RX_INIT_FAILED:
msg_str = "RX RMT channel init failed!";
break;
case dshot_msg_code_t::DSHOT_ERROR_ENCODER_INIT_FAILED:
msg_str = "RMT encoder init failed!";
break;
case dshot_msg_code_t::DSHOT_ERROR_CALLBACK_REGISTERING_FAILED:
msg_str = "RMT RX Callback registering failed!";
break;
case dshot_msg_code_t::DSHOT_ERROR_RECEIVER_FAILED:
msg_str = "RMT receiver failed!";
break;
case dshot_msg_code_t::DSHOT_ERROR_TRANSMISSION_FAILED:
msg_str = "Transmission failed!";
break;
case dshot_msg_code_t::DSHOT_ERROR_THROTTLE_NOT_IN_RANGE:
msg_str = "Throttle not in range! (48 - 2047)";
break;
case dshot_msg_code_t::DSHOT_ERROR_PERCENT_NOT_IN_RANGE:
msg_str = "Percent not in range! (0.0 - 100.0)";
break;
case dshot_msg_code_t::DSHOT_ERROR_COMMAND_NOT_VALID:
msg_str = "Command not valid! (0 - 47)";
break;
case dshot_msg_code_t::DSHOT_ERROR_BIDIR_NOT_ENABLED:
msg_str = "Bidirectional DShot not enabled!";
break;
case dshot_msg_code_t::DSHOT_ERROR_TELEMETRY_FAILED:
msg_str = "No valid Telemetric Frame received!";
break;
case dshot_msg_code_t::DSHOT_ERROR_INVALID_MAGNET_COUNT:
msg_str = "Invalid motor magnet count!";
break;
case dshot_msg_code_t::DSHOT_ERROR_INVALID_COMMAND:
msg_str = "Invalid command!";
break;
case dshot_msg_code_t::DSHOT_ERROR_TIMING_CORRECTION:
msg_str = "Timing correction!";
break;
case dshot_msg_code_t::DSHOT_ERROR_INIT_FAILED:
msg_str = "SignalGeneratorRMT init failed!";
break;
case dshot_msg_code_t::DSHOT_ERROR_INIT_SUCCESS:
msg_str = "SignalGeneratorRMT initialized successfully";
break;
case dshot_msg_code_t::DSHOT_ERROR_TX_INIT_SUCCESS:
msg_str = "TX RMT channel initialized successfully";
break;
case dshot_msg_code_t::DSHOT_ERROR_RX_INIT_SUCCESS:
msg_str = "RX RMT channel initialized successfully";
break;
case dshot_msg_code_t::DSHOT_ERROR_ENCODING_SUCCESS:
msg_str = "Packet encoded successfully";
break;
case dshot_msg_code_t::DSHOT_ERROR_TRANSMISSION_SUCCESS:
msg_str = "Transmission successfully";
break;
case dshot_msg_code_t::DSHOT_ERROR_TELEMETRY_SUCCESS:
msg_str = "Valid Telemetric Frame received!";
break;
case dshot_msg_code_t::DSHOT_ERROR_COMMAND_SUCCESS:
msg_str = "DShot command sent successfully";
break;
default:
msg_str = "Unhandled Error Code!";
break;
}
output.printf("Status: %s - %s", result.success ? "SUCCESS" : "FAILED", msg_str);
// Print telemetry data if available
if (result.success && (result.erpm > 0 || result.motor_rpm > 0))
{
output.printf(" | eRPM: %u, Motor RPM: %u", result.erpm, result.motor_rpm);
}
output.println();
}
// Public Static Utility Functions // Public Static Utility Functions
void DShotRMT::printDShotInfo(const DShotRMT &dshot_rmt, Stream &output) void DShotRMT::printDShotInfo(const DShotRMT &dshot_rmt, Stream &output)
{ {
output.println("\n === DShot Signal Info === "); output.println("\n === DShot Signal Info === ");
output.printf("Current Mode: DSHOT%d\n", dshot_rmt.getMode() == dshot_mode_t::DSHOT150 ? 150 : dshot_rmt.getMode() == dshot_mode_t::DSHOT300 ? 300
: dshot_rmt.getMode() == dshot_mode_t::DSHOT600 ? 600 int mode_val = 0;
: dshot_rmt.getMode() == dshot_mode_t::DSHOT1200 ? 1200 switch (dshot_rmt.getMode())
: 0); {
case dshot_mode_t::DSHOT150:
mode_val = 150;
break;
case dshot_mode_t::DSHOT300:
mode_val = 300;
break;
case dshot_mode_t::DSHOT600:
mode_val = 600;
break;
case dshot_mode_t::DSHOT1200:
mode_val = 1200;
break;
default:
break;
}
output.printf("Current Mode: DSHOT%d\n", mode_val);
output.printf("Bidirectional: %s\n", dshot_rmt.isBidirectional() ? "YES" : "NO"); output.printf("Bidirectional: %s\n", dshot_rmt.isBidirectional() ? "YES" : "NO");
output.printf("Current Packet: "); output.printf("Current Packet: ");

17
src/DShotRMT.h
View File

@ -113,6 +113,13 @@ public:
dshot_result_t saveESCSettings(); dshot_result_t saveESCSettings();
// Public Utility & Info Functions // Public Utility & Info Functions
/**
* @brief Prints the result of a DShot operation to the specified output stream.
* @param result The dshot_result_t structure containing the operation's outcome.
* @param output The output stream (e.g., Serial) to print to. Defaults to Serial.
*/
static void printDShotResult(const dshot_result_t &result, Stream &output = Serial);
/** /**
* @brief Prints detailed DShot signal information for a given DShotRMT instance. * @brief Prints detailed DShot signal information for a given DShotRMT instance.
* @param dshot_rmt The DShotRMT instance to get information from. * @param dshot_rmt The DShotRMT instance to get information from.
@ -213,8 +220,8 @@ private:
uint64_t _last_command_timestamp; uint64_t _last_command_timestamp;
uint16_t _encoded_frame_value; uint16_t _encoded_frame_value;
dshot_packet_t _packet; dshot_packet_t _packet;
uint16_t _level0; // DShot protocol: Signal is idle-low, so pulses start by going HIGH. uint16_t _pulse_level; // DShot protocol: Signal is idle-low, so pulses start by going HIGH.
uint16_t _level1; // DShot protocol: Signal returns to LOW after the high pulse. uint16_t _idle_level; // DShot protocol: Signal returns to LOW after the high pulse.
// RMT Hardware Handles // RMT Hardware Handles
rmt_channel_handle_t _rmt_tx_channel; rmt_channel_handle_t _rmt_tx_channel;
@ -245,12 +252,12 @@ private:
// Private Frame Processing Functions // Private Frame Processing Functions
dshot_result_t _sendDShotFrame(const dshot_packet_t &packet); dshot_result_t _sendDShotFrame(const dshot_packet_t &packet);
dshot_result_t _encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols);
uint16_t _decodeDShotFrame(const rmt_symbol_word_t *symbols); uint16_t _decodeDShotFrame(const rmt_symbol_word_t *symbols);
// Private Timing Control Functions // Private Timing Control Functions
bool _timer_signal(); bool _isFrameIntervalElapsed();
bool _timer_reset(); void _recordFrameTransmissionTime();
// Static Callback Functions // Static Callback Functions
static bool _on_rx_done(rmt_channel_handle_t rmt_rx_channel, const rmt_rx_done_event_data_t *edata, void *user_data); static bool _on_rx_done(rmt_channel_handle_t rmt_rx_channel, const rmt_rx_done_event_data_t *edata, void *user_data);

98
src/dshot_definitions.h
View File

@ -217,101 +217,3 @@ const char *const TIMING_CORRECTION = "Timing correction!";
const char *const CALLBACK_REGISTERING_FAILED = "RMT RX Callback registering failed!"; const char *const CALLBACK_REGISTERING_FAILED = "RMT RX Callback registering failed!";
const char *const INVALID_COMMAND = "Invalid command!"; const char *const INVALID_COMMAND = "Invalid command!";
const char *const COMMAND_SUCCESS = "DShot command sent successfully"; const char *const COMMAND_SUCCESS = "DShot command sent successfully";
// Helper Functions
/**
* @brief Prints the result of a DShot operation to the specified output stream.
* @param result The dshot_result_t structure containing the operation's outcome.
* @param output The output stream (e.g., Serial) to print to. Defaults to Serial.
*/
inline void printDShotResult(dshot_result_t &result, Stream &output = Serial)
{
const char *msg_str;
switch (result.error_code)
{
case dshot_msg_code_t::DSHOT_ERROR_NONE:
msg_str = "None";
break;
case dshot_msg_code_t::DSHOT_ERROR_UNKNOWN:
msg_str = "Unknown Error!";
break;
case dshot_msg_code_t::DSHOT_ERROR_TX_INIT_FAILED:
msg_str = "TX RMT channel init failed!";
break;
case dshot_msg_code_t::DSHOT_ERROR_RX_INIT_FAILED:
msg_str = "RX RMT channel init failed!";
break;
case dshot_msg_code_t::DSHOT_ERROR_ENCODER_INIT_FAILED:
msg_str = "RMT encoder init failed!";
break;
case dshot_msg_code_t::DSHOT_ERROR_CALLBACK_REGISTERING_FAILED:
msg_str = "RMT RX Callback registering failed!";
break;
case dshot_msg_code_t::DSHOT_ERROR_RECEIVER_FAILED:
msg_str = "RMT receiver failed!";
break;
case dshot_msg_code_t::DSHOT_ERROR_TRANSMISSION_FAILED:
msg_str = "Transmission failed!";
break;
case dshot_msg_code_t::DSHOT_ERROR_THROTTLE_NOT_IN_RANGE:
msg_str = "Throttle not in range! (48 - 2047)";
break;
case dshot_msg_code_t::DSHOT_ERROR_PERCENT_NOT_IN_RANGE:
msg_str = "Percent not in range! (0.0 - 100.0)";
break;
case dshot_msg_code_t::DSHOT_ERROR_COMMAND_NOT_VALID:
msg_str = "Command not valid! (0 - 47)";
break;
case dshot_msg_code_t::DSHOT_ERROR_BIDIR_NOT_ENABLED:
msg_str = "Bidirectional DShot not enabled!";
break;
case dshot_msg_code_t::DSHOT_ERROR_TELEMETRY_FAILED:
msg_str = "No valid Telemetric Frame received!";
break;
case dshot_msg_code_t::DSHOT_ERROR_INVALID_MAGNET_COUNT:
msg_str = "Invalid motor magnet count!";
break;
case dshot_msg_code_t::DSHOT_ERROR_INVALID_COMMAND:
msg_str = "Invalid command!";
break;
case dshot_msg_code_t::DSHOT_ERROR_TIMING_CORRECTION:
msg_str = "Timing correction!";
break;
case dshot_msg_code_t::DSHOT_ERROR_INIT_FAILED:
msg_str = "SignalGeneratorRMT init failed!";
break;
case dshot_msg_code_t::DSHOT_ERROR_INIT_SUCCESS:
msg_str = "SignalGeneratorRMT initialized successfully";
break;
case dshot_msg_code_t::DSHOT_ERROR_TX_INIT_SUCCESS:
msg_str = "TX RMT channel initialized successfully";
break;
case dshot_msg_code_t::DSHOT_ERROR_RX_INIT_SUCCESS:
msg_str = "RX RMT channel initialized successfully";
break;
case dshot_msg_code_t::DSHOT_ERROR_ENCODING_SUCCESS:
msg_str = "Packet encoded successfully";
break;
case dshot_msg_code_t::DSHOT_ERROR_TRANSMISSION_SUCCESS:
msg_str = "Transmission successfully";
break;
case dshot_msg_code_t::DSHOT_ERROR_TELEMETRY_SUCCESS:
msg_str = "Valid Telemetric Frame received!";
break;
case dshot_msg_code_t::DSHOT_ERROR_COMMAND_SUCCESS:
msg_str = "DShot command sent successfully";
break;
default:
msg_str = "Unhandled Error Code!";
break;
}
output.printf("Status: %s - %s", result.success ? "SUCCESS" : "FAILED", msg_str);
// Print telemetry data if available
if (result.success && (result.erpm > 0 || result.motor_rpm > 0))
{
output.printf(" | eRPM: %u, Motor RPM: %u", result.erpm, result.motor_rpm);
}
output.println();
}