prepare release 0.8.6
...implemented official byte-Encoder, many more
This commit is contained in:
Wastl Kraus
GitHub
commit
9dc91a01c4
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@ -1,93 +1,92 @@
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||||||
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# 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-${{ hashFiles('**/library.properties') }}
|
||||||
arduino-core-linux-
|
|
||||||
- name: Ensure ESP32 Core is installed (Linux)
|
- name: Install Dependencies
|
||||||
|
if: steps.cache-arduino.outputs.cache-hit != 'true'
|
||||||
shell: bash
|
shell: bash
|
||||||
run: |
|
run: |
|
||||||
arduino-cli core update-index --additional-urls https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
|
arduino-cli core update-index --additional-urls https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
|
||||||
if ! arduino-cli core list | grep -q 'esp32'; then
|
|
||||||
arduino-cli core install esp32:esp32
|
arduino-cli core install esp32:esp32
|
||||||
fi
|
arduino-cli lib install "ArduinoJson"
|
||||||
- name: Save Arduino Core Cache
|
mkdir -p "$HOME/Arduino/libraries"
|
||||||
if: always() && steps.cache-core-linux.outputs.cache-hit != 'true'
|
git clone --depth=1 https://github.com/ESP32Async/ESPAsyncWebServer "$HOME/Arduino/libraries/ESPAsyncWebServer"
|
||||||
uses: actions/cache/save@v4
|
git clone --depth=1 https://github.com/ESP32Async/AsyncTCP "$HOME/Arduino/libraries/AsyncTCP"
|
||||||
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
|
||||||
shell: pwsh
|
uses: arduino/arduino-lint-action@v2
|
||||||
run: |
|
|
||||||
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
|
||||||
|
|
@ -96,135 +95,67 @@ jobs:
|
||||||
|
|
||||||
# ============================================================================
|
# ============================================================================
|
||||||
# Compilation Test
|
# Compilation Test
|
||||||
|
# This job compiles all example sketches.
|
||||||
# ============================================================================
|
# ============================================================================
|
||||||
|
compile-sketches:
|
||||||
compile-test-linux:
|
name: Compile ${{ matrix.sketch }} (Linux)
|
||||||
name: Compile Sketches (Linux)
|
needs: prepare-cache
|
||||||
runs-on: ubuntu-latest
|
runs-on: ubuntu-latest
|
||||||
timeout-minutes: 15
|
timeout-minutes: 15
|
||||||
steps:
|
strategy:
|
||||||
- uses: actions/checkout@v5
|
fail-fast: false
|
||||||
- uses: arduino/setup-arduino-cli@v2
|
matrix:
|
||||||
- name: Restore Arduino Core & Libraries Cache
|
sketch:
|
||||||
id: cache-all-linux
|
- examples/throttle_percent/throttle_percent.ino
|
||||||
uses: actions/cache/restore@v4
|
- examples/dshot300/dshot300.ino
|
||||||
with:
|
- examples/web_control/web_control.ino
|
||||||
path: |
|
- examples/web_client/web_client.ino
|
||||||
~/.arduino15/packages
|
|
||||||
~/.arduino15/cache
|
|
||||||
~/Arduino/libraries
|
|
||||||
key: arduino-full-linux-esp32-v1
|
|
||||||
restore-keys: |
|
|
||||||
arduino-full-linux-
|
|
||||||
- name: Ensure ESP32 Core and Dependencies (Linux)
|
|
||||||
shell: bash
|
|
||||||
run: |
|
|
||||||
arduino-cli core update-index --additional-urls https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
|
|
||||||
if ! arduino-cli core list | grep -q 'esp32'; then
|
|
||||||
arduino-cli core install esp32:esp32
|
|
||||||
fi
|
|
||||||
mkdir -p ~/Arduino/libraries
|
|
||||||
if [ ! -d ~/Arduino/libraries/ArduinoJson ]; then
|
|
||||||
git clone --depth=1 https://github.com/bblanchon/ArduinoJson.git ~/Arduino/libraries/ArduinoJson
|
|
||||||
fi
|
|
||||||
if [ ! -d ~/Arduino/libraries/ESPAsyncWebServer ]; then
|
|
||||||
git clone --depth=1 https://github.com/ESP32Async/ESPAsyncWebServer ~/Arduino/libraries/ESPAsyncWebServer
|
|
||||||
fi
|
|
||||||
if [ ! -d ~/Arduino/libraries/AsyncTCP ]; then
|
|
||||||
git clone --depth=1 https://github.com/ESP32Async/AsyncTCP ~/Arduino/libraries/AsyncTCP
|
|
||||||
fi
|
|
||||||
- name: Save Arduino Core & Libraries Cache
|
|
||||||
if: always() && steps.cache-all-linux.outputs.cache-hit != 'true'
|
|
||||||
uses: actions/cache/save@v4
|
|
||||||
with:
|
|
||||||
path: |
|
|
||||||
~/.arduino15/packages
|
|
||||||
~/.arduino15/cache
|
|
||||||
~/Arduino/libraries
|
|
||||||
key: arduino-full-linux-esp32-v1
|
|
||||||
- name: Compile Sketch
|
|
||||||
run: |
|
|
||||||
arduino-cli compile --fqbn esp32:esp32:esp32 --library ${{ github.workspace }} examples/dshot300/dshot300.ino
|
|
||||||
|
|
||||||
compile-test-windows:
|
|
||||||
name: Compile Sketches (Windows)
|
|
||||||
runs-on: windows-latest
|
|
||||||
timeout-minutes: 15
|
|
||||||
steps:
|
steps:
|
||||||
- uses: actions/checkout@v5
|
- name: Checkout Repository
|
||||||
- uses: arduino/setup-arduino-cli@v2
|
uses: actions/checkout@v4
|
||||||
|
|
||||||
|
- name: Setup Arduino CLI
|
||||||
|
uses: arduino/setup-arduino-cli@v2
|
||||||
|
|
||||||
- name: Restore Arduino Core & Libraries Cache
|
- name: Restore Arduino Core & Libraries Cache
|
||||||
id: cache-all-win
|
uses: actions/cache@v4
|
||||||
uses: actions/cache/restore@v4
|
|
||||||
with:
|
with:
|
||||||
path: |
|
path: |
|
||||||
~/.arduino15/packages
|
~/.arduino15/packages
|
||||||
~/.arduino15/cache
|
~/.arduino15/cache
|
||||||
~/Arduino/libraries
|
~/Arduino/libraries
|
||||||
key: arduino-full-windows-esp32-v1
|
key: linux-arduino-esp32-v2-${{ hashFiles('**/library.properties') }}
|
||||||
restore-keys: |
|
|
||||||
arduino-full-windows-
|
|
||||||
- name: Ensure ESP32 Core and Dependencies (Windows)
|
|
||||||
shell: pwsh
|
|
||||||
run: |
|
|
||||||
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
|
|
||||||
}
|
|
||||||
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-win.outputs.cache-hit != 'true'
|
|
||||||
uses: actions/cache/save@v4
|
|
||||||
with:
|
|
||||||
path: |
|
|
||||||
~/.arduino15/packages
|
|
||||||
~/.arduino15/cache
|
|
||||||
~/Arduino/libraries
|
|
||||||
key: arduino-full-windows-esp32-v1
|
|
||||||
- name: Compile Sketch
|
- name: Compile Sketch
|
||||||
run: |
|
run: arduino-cli compile --fqbn esp32:esp32:esp32 --library ${{ github.workspace }} "${{ matrix.sketch }}"
|
||||||
arduino-cli compile --fqbn esp32:esp32:esp32 --library ${{ github.workspace }} examples/dshot300/dshot300.ino
|
|
||||||
|
|
||||||
# ============================================================================
|
# ============================================================================
|
||||||
# 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-test-linux
|
|
||||||
- compile-test-windows
|
|
||||||
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-test-linux.result }}" == "success" && "${{ needs.compile-test-windows.result }}" == "success" ]] \
|
if [[ "${{ 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-test-linux.result }}" == "success" && "${{ needs.compile-test-windows.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
|
|
||||||
|
|
||||||
56
README.md
56
README.md
|
|
@ -2,19 +2,35 @@
|
||||||
|
|
||||||
[](https://github.com/derdoktor667/DShotRMT/actions/workflows/ci.yml)
|
[](https://github.com/derdoktor667/DShotRMT/actions/workflows/ci.yml)
|
||||||
|
|
||||||
A C++ library for generating DShot signals on ESP32 microcontrollers using the RMT (Remote Control) peripheral. It's designed for both Arduino and ESP-IDF projects, providing a simple and efficient way to control brushless motors.
|
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`). This library specifically leverages the official `rmt_bytes_encoder` API for an efficient, hardware-timed, and maintainable implementation. It 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.
|
||||||
|
|
||||||
This library is a rewrite using the modern ESP-IDF 5 RMT encoder API (`rmt_tx.h` / `rmt_rx.h`) for improved performance and flexibility. The legacy version using the old `rmt.h` API is available in the `oldAPI` branch.
|
### DShot300 Example Output
|
||||||
|
|
||||||
|
Here's an example of the output from the `dshot300` example sketch:
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
## 🚀 Core Features
|
## 🚀 Core Features
|
||||||
|
|
||||||
- **Multiple DShot Modes:** Supports DSHOT150, DSHOT300, DSHOT600, and DSHOT1200.
|
- **Multiple DShot Modes:** Supports DSHOT150, DSHOT300, DSHOT600, and DSHOT1200.
|
||||||
- **Bidirectional DShot:** Implemented, but currently not officially supported due to instability and external hardware requirements.
|
- **Bidirectional DShot Support:** Implemented, but note that official support is limited due to potential instability and external hardware requirements. Use with caution.
|
||||||
- **Hardware-Timed Signals:** Precise signal generation using the ESP32 RMT peripheral, ensuring stable and reliable motor control.
|
- **Hardware-Timed Signals:** Precise signal generation using the ESP32 RMT peripheral, ensuring stable and reliable motor control.
|
||||||
- **Simple API:** Easy-to-use C++ class with intuitive methods like `sendThrottlePercent()`.
|
- **Simple API:** Easy-to-use C++ class with intuitive methods like `sendThrottlePercent()`.
|
||||||
|
- **Robust Error Handling:** Provides detailed feedback on operation success or failure via `dshot_result_t`.
|
||||||
- **Efficient and Lightweight:** The core library has no external dependencies.
|
- **Efficient and Lightweight:** The core library has no external dependencies.
|
||||||
- **Arduino and ESP-IDF Compatible:** Can be used in both Arduino and ESP-IDF projects.
|
- **Arduino and ESP-IDF Compatible:** Can be used in both Arduino and ESP-IDF projects.
|
||||||
|
|
||||||
|
## ⏱️ DShot Timing Information
|
||||||
|
|
||||||
|
The DShot protocol defines specific timing characteristics for each mode. The following table outlines the bit length, T1H (high time for a '1' bit), T0H (high time for a '0' bit), and frame length for the supported DShot modes:
|
||||||
|
|
||||||
|
| DShot Mode | Bit Length (µs) | T1H Length (µs) | T0H Length (µs) | Frame Length (µs) |
|
||||||
|
| :--------- | :-------------- | :-------------- | :-------------- | :---------------- |
|
||||||
|
| DSHOT150 | 6.67 | 5.00 | 2.50 | 106.72 |
|
||||||
|
| DSHOT300 | 3.33 | 2.50 | 1.25 | 53.28 |
|
||||||
|
| DSHOT600 | 1.67 | 1.25 | 0.625 | 26.72 |
|
||||||
|
| DSHOT1200 | 0.83 | 0.67 | 0.335 | 13.28 |
|
||||||
|
|
||||||
## 📦 Installation
|
## 📦 Installation
|
||||||
|
|
||||||
### Arduino IDE
|
### Arduino IDE
|
||||||
|
|
@ -38,7 +54,7 @@ Here's a basic example of how to use the `DShotRMT` library to control a motor:
|
||||||
|
|
||||||
```cpp
|
```cpp
|
||||||
#include <Arduino.h>
|
#include <Arduino.h>
|
||||||
#include <DShotRMT.h>
|
#include <DShotRMT.h> // Include the DShotRMT library
|
||||||
|
|
||||||
// Define the GPIO pin connected to the motor ESC
|
// Define the GPIO pin connected to the motor ESC
|
||||||
const gpio_num_t MOTOR_PIN = GPIO_NUM_27;
|
const gpio_num_t MOTOR_PIN = GPIO_NUM_27;
|
||||||
|
|
@ -52,6 +68,9 @@ void setup() {
|
||||||
// Initialize the DShot motor
|
// Initialize the DShot motor
|
||||||
motor.begin();
|
motor.begin();
|
||||||
|
|
||||||
|
// Print CPU Info
|
||||||
|
DShotRMT::printCpuInfo(Serial);
|
||||||
|
|
||||||
Serial.println("Motor initialized. Ramping up to 25% throttle...");
|
Serial.println("Motor initialized. Ramping up to 25% throttle...");
|
||||||
|
|
||||||
// Ramp up to 25% throttle over 2.5 seconds
|
// Ramp up to 25% throttle over 2.5 seconds
|
||||||
|
|
@ -62,6 +81,9 @@ void setup() {
|
||||||
|
|
||||||
Serial.println("Stopping motor.");
|
Serial.println("Stopping motor.");
|
||||||
motor.sendThrottlePercent(0);
|
motor.sendThrottlePercent(0);
|
||||||
|
|
||||||
|
// Print DShot Info
|
||||||
|
DShotRMT::printDShotInfo(motor, Serial);
|
||||||
}
|
}
|
||||||
|
|
||||||
void loop() {
|
void loop() {
|
||||||
|
|
@ -100,14 +122,24 @@ lib_deps =
|
||||||
|
|
||||||
The main class is `DShotRMT`. Here are the most important methods:
|
The main class is `DShotRMT`. Here are the most important methods:
|
||||||
|
|
||||||
- `DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional = false)`: Constructor to create a new DShotRMT instance. (Note: Bidirectional DShot is currently not officially supported.)
|
- `DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional = false, uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT)`: Constructor to create a new DShotRMT instance.
|
||||||
- `begin()`: Initializes the RMT peripheral and the DShot encoder.
|
- `begin()`: Initializes the DShot RMT channels and encoder.
|
||||||
- `sendThrottlePercent(float percent)`: Sends a throttle value as a percentage (0.0-100.0).
|
- `sendThrottlePercent(float percent)`: Sends a throttle value as a percentage (0.0-100.0) to the ESC.
|
||||||
- `sendThrottle(uint16_t throttle)`: Sends a raw throttle value (48-2047) to the motor.
|
- `sendThrottle(uint16_t throttle)`: Sends a raw throttle value (48-2047) to the ESC. A value of 0 sends a motor stop command.
|
||||||
- `sendCommand(uint16_t command)`: Sends a DShot command (0-47) to the motor.
|
- `sendCommand(uint16_t command)`: Sends a single DShot command (0-47) to the ESC.
|
||||||
- `getTelemetry(uint16_t magnet_count)`: Receives and parses telemetry data from the motor (for bidirectional DShot, which is currently not officially supported).
|
- `sendCommand(dshotCommands_e dshot_command, uint16_t repeat_count = DEFAULT_CMD_REPEAT_COUNT, uint16_t delay_us = DEFAULT_CMD_DELAY_US)`: Sends a DShot command multiple times with a delay between repetitions. This is a blocking function.
|
||||||
|
- `getTelemetry(uint16_t magnet_count = 0)`: Retrieves telemetry data from the ESC. If `magnet_count` is 0, uses the stored motor magnet count.
|
||||||
For more details, please refer to the `DShotRMT.h` header file.
|
- `getESCInfo()`: Sends a command to the ESC to request ESC information.
|
||||||
|
- `setMotorSpinDirection(bool reversed)`: Sets the motor spin direction. `true` for reversed, `false` for normal.
|
||||||
|
- `saveESCSettings()`: Sends a command to the ESC to save its current settings. Use with caution as this writes to ESC's non-volatile memory.
|
||||||
|
- `printDShotResult(dshot_result_t &result, Stream &output = Serial)`: Prints the result of a DShot operation to the specified output stream.
|
||||||
|
- `DShotRMT::printDShotInfo(const DShotRMT &dshot_rmt, Stream &output = Serial)`: Prints detailed DShot signal information for a given DShotRMT instance.
|
||||||
|
- `DShotRMT::printCpuInfo(Stream &output = Serial)`: Prints detailed CPU information.
|
||||||
|
- `setMotorMagnetCount(uint16_t magnet_count)`: Sets the motor magnet count for RPM calculation.
|
||||||
|
- `getMode()`: Gets the current DShot mode.
|
||||||
|
- `isBidirectional()`: Checks if bidirectional DShot is enabled.
|
||||||
|
- `getEncodedFrameValue()`: Gets the last encoded DShot frame value.
|
||||||
|
- `getThrottleValue()`: Gets the last transmitted throttle value.
|
||||||
|
|
||||||
## 🤝 Contributing
|
## 🤝 Contributing
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -7,7 +7,7 @@
|
||||||
*/
|
*/
|
||||||
|
|
||||||
#include <Arduino.h>
|
#include <Arduino.h>
|
||||||
#include <DShotRMT.h>
|
#include "DShotRMT.h"
|
||||||
|
|
||||||
// USB serial port settings
|
// USB serial port settings
|
||||||
static constexpr auto &USB_SERIAL = Serial0;
|
static constexpr auto &USB_SERIAL = Serial0;
|
||||||
|
|
@ -18,7 +18,7 @@ static constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_27;
|
||||||
// static constexpr auto MOTOR01_PIN = 17;
|
// static constexpr auto MOTOR01_PIN = 17;
|
||||||
|
|
||||||
// Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
|
// Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
|
||||||
static constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
|
static constexpr dshot_mode_t DSHOT_MODE = dshot_mode_t::DSHOT300;
|
||||||
|
|
||||||
// BiDirectional DShot Support (default: false)
|
// BiDirectional DShot Support (default: false)
|
||||||
// Note: Bidirectional DShot is currently not officially supported
|
// Note: Bidirectional DShot is currently not officially supported
|
||||||
|
|
@ -41,7 +41,7 @@ void setup()
|
||||||
motor01.begin();
|
motor01.begin();
|
||||||
|
|
||||||
// Print CPU Info
|
// Print CPU Info
|
||||||
motor01.printCpuInfo();
|
DShotRMT::printCpuInfo(USB_SERIAL);
|
||||||
|
|
||||||
//
|
//
|
||||||
printMenu();
|
printMenu();
|
||||||
|
|
@ -80,7 +80,7 @@ void loop()
|
||||||
// Print motor stats every 3 seconds in continuous mode
|
// Print motor stats every 3 seconds in continuous mode
|
||||||
if (continuous_throttle && (esp_timer_get_time() - last_stats_print >= 3000000))
|
if (continuous_throttle && (esp_timer_get_time() - last_stats_print >= 3000000))
|
||||||
{
|
{
|
||||||
motor01.printDShotInfo();
|
DShotRMT::printDShotInfo(motor01, USB_SERIAL);
|
||||||
|
|
||||||
USB_SERIAL.println(" ");
|
USB_SERIAL.println(" ");
|
||||||
|
|
||||||
|
|
@ -132,7 +132,7 @@ void handleSerialInput(const String &input, uint16_t &throttle, bool &continuous
|
||||||
}
|
}
|
||||||
else if (input == "info")
|
else if (input == "info")
|
||||||
{
|
{
|
||||||
motor01.printDShotInfo();
|
DShotRMT::printDShotInfo(motor01, USB_SERIAL);
|
||||||
}
|
}
|
||||||
else if (input == "rpm" && IS_BIDIRECTIONAL)
|
else if (input == "rpm" && IS_BIDIRECTIONAL)
|
||||||
{
|
{
|
||||||
|
|
|
||||||
|
|
@ -17,7 +17,7 @@ static constexpr auto USB_SERIAL_BAUD = 115200;
|
||||||
static constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_27;
|
static constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_27;
|
||||||
|
|
||||||
// Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
|
// Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
|
||||||
static constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
|
static constexpr dshot_mode_t DSHOT_MODE = dshot_mode_t::DSHOT300;
|
||||||
|
|
||||||
// BiDirectional DShot Support (default: false)
|
// BiDirectional DShot Support (default: false)
|
||||||
// Note: Bidirectional DShot is currently not officially supported
|
// Note: Bidirectional DShot is currently not officially supported
|
||||||
|
|
@ -98,7 +98,7 @@ void handleSerialInput(const String &input)
|
||||||
}
|
}
|
||||||
else if (input == "info")
|
else if (input == "info")
|
||||||
{
|
{
|
||||||
motor01.printDShotInfo();
|
DShotRMT::printDShotInfo(motor01, USB_SERIAL);
|
||||||
}
|
}
|
||||||
else if (input == "rpm" && IS_BIDIRECTIONAL)
|
else if (input == "rpm" && IS_BIDIRECTIONAL)
|
||||||
{
|
{
|
||||||
|
|
|
||||||
|
|
@ -42,7 +42,7 @@ static constexpr auto USB_SERIAL_BAUD = 115200;
|
||||||
static constexpr auto MOTOR01_PIN = 17;
|
static constexpr auto MOTOR01_PIN = 17;
|
||||||
|
|
||||||
// Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
|
// Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
|
||||||
static constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
|
static constexpr dshot_mode_t DSHOT_MODE = dshot_mode_t::DSHOT300;
|
||||||
|
|
||||||
// BiDirectional DShot Support (default: false)
|
// BiDirectional DShot Support (default: false)
|
||||||
static constexpr auto IS_BIDIRECTIONAL = false; // Note: Bidirectional DShot is currently not officially supported due to instability and external hardware requirements.
|
static constexpr auto IS_BIDIRECTIONAL = false; // Note: Bidirectional DShot is currently not officially supported due to instability and external hardware requirements.
|
||||||
|
|
@ -166,16 +166,13 @@ void loop()
|
||||||
}
|
}
|
||||||
else if (!isArmed && continuous_throttle)
|
else if (!isArmed && continuous_throttle)
|
||||||
{
|
{
|
||||||
// Ensure motor is stopped when disarmed
|
|
||||||
motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
|
motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
|
||||||
}
|
}
|
||||||
|
|
||||||
// Print motor stats every 3 seconds in continuous mode
|
// Print motor stats every 3 seconds in continuous mode
|
||||||
if ((esp_timer_get_time() - last_serial_update >= 3000000))
|
if ((esp_timer_get_time() - last_serial_update >= 3000000))
|
||||||
{
|
{
|
||||||
motor01.printDShotInfo();
|
DShotRMT::printDShotInfo(motor01, USB_SERIAL);
|
||||||
|
|
||||||
USB_SERIAL.println(" ");
|
|
||||||
|
|
||||||
// Get Motor RPM if bidirectional and armed
|
// Get Motor RPM if bidirectional and armed
|
||||||
if (IS_BIDIRECTIONAL && isArmed)
|
if (IS_BIDIRECTIONAL && isArmed)
|
||||||
|
|
@ -270,8 +267,7 @@ void handleOTAUpload(AsyncWebServerRequest *request, String filename, size_t ind
|
||||||
if (!index)
|
if (!index)
|
||||||
{
|
{
|
||||||
// Safety: Ensure motor is stopped during update
|
// Safety: Ensure motor is stopped during update
|
||||||
motor01.sendCommand(DSHOT_CMD_MOTOR_STOP);
|
motor01.sendCommand(DSHOT_CMD_MOTOR_STOP); setArmingStatus(false);
|
||||||
setArmingStatus(false);
|
|
||||||
|
|
||||||
USB_SERIAL.printf("OTA Update Start: %s\n", filename.c_str());
|
USB_SERIAL.printf("OTA Update Start: %s\n", filename.c_str());
|
||||||
|
|
||||||
|
|
@ -451,7 +447,7 @@ void handleSerialInput(const String &input)
|
||||||
|
|
||||||
if (input == "info")
|
if (input == "info")
|
||||||
{
|
{
|
||||||
motor01.printDShotInfo();
|
DShotRMT::printDShotInfo(motor01, USB_SERIAL);
|
||||||
USB_SERIAL.println(" ");
|
USB_SERIAL.println(" ");
|
||||||
USB_SERIAL.printf("Arming Status: %s\n", isArmed ? "ARMED" : "DISARMED");
|
USB_SERIAL.printf("Arming Status: %s\n", isArmed ? "ARMED" : "DISARMED");
|
||||||
return;
|
return;
|
||||||
|
|
|
||||||
|
|
@ -41,7 +41,7 @@ static constexpr auto USB_SERIAL_BAUD = 115200;
|
||||||
static constexpr auto MOTOR01_PIN = 17;
|
static constexpr auto MOTOR01_PIN = 17;
|
||||||
|
|
||||||
// Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
|
// Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
|
||||||
static constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
|
static constexpr dshot_mode_t DSHOT_MODE = dshot_mode_t::DSHOT300;
|
||||||
|
|
||||||
// BiDirectional DShot Support (default: false)
|
// BiDirectional DShot Support (default: false)
|
||||||
static constexpr auto IS_BIDIRECTIONAL = false; // Note: Bidirectional DShot is currently not officially supported due to instability and external hardware requirements.
|
static constexpr auto IS_BIDIRECTIONAL = false; // Note: Bidirectional DShot is currently not officially supported due to instability and external hardware requirements.
|
||||||
|
|
@ -138,7 +138,7 @@ void loop()
|
||||||
// Print motor stats every 3 seconds in continuous mode
|
// Print motor stats every 3 seconds in continuous mode
|
||||||
if ((esp_timer_get_time() - last_serial_update >= 3000000))
|
if ((esp_timer_get_time() - last_serial_update >= 3000000))
|
||||||
{
|
{
|
||||||
motor01.printDShotInfo();
|
DShotRMT::printDShotInfo(motor01, USB_SERIAL);
|
||||||
|
|
||||||
USB_SERIAL.println(" ");
|
USB_SERIAL.println(" ");
|
||||||
|
|
||||||
|
|
@ -254,7 +254,7 @@ void handleSerialInput(const String &input)
|
||||||
}
|
}
|
||||||
if (input == "info")
|
if (input == "info")
|
||||||
{
|
{
|
||||||
motor01.printDShotInfo();
|
DShotRMT::printDShotInfo(motor01, USB_SERIAL);
|
||||||
USB_SERIAL.println(" ");
|
USB_SERIAL.println(" ");
|
||||||
USB_SERIAL.printf("Arming Status: %s\n", isArmed ? "ARMED" : "DISARMED");
|
USB_SERIAL.printf("Arming Status: %s\n", isArmed ? "ARMED" : "DISARMED");
|
||||||
return;
|
return;
|
||||||
|
|
|
||||||
52
keywords.txt
52
keywords.txt
|
|
@ -7,59 +7,7 @@
|
||||||
#######################################
|
#######################################
|
||||||
|
|
||||||
DShotRMT KEYWORD1
|
DShotRMT KEYWORD1
|
||||||
DShotCommandManager KEYWORD1
|
|
||||||
dshot_mode_t KEYWORD1
|
|
||||||
dshot_packet_t KEYWORD1
|
|
||||||
dshot_timing_t KEYWORD1
|
|
||||||
dshot_commands_t KEYWORD1
|
|
||||||
dshot_command_result_t KEYWORD1
|
|
||||||
dshot_command_sequence_item_t KEYWORD1
|
|
||||||
dshotCommands_e KEYWORD1
|
|
||||||
dshotCommandType_e KEYWORD1
|
|
||||||
|
|
||||||
#######################################
|
|
||||||
# Methods and Functions (KEYWORD2)
|
|
||||||
#######################################
|
|
||||||
|
|
||||||
# DShotRMT Methods
|
|
||||||
begin KEYWORD2
|
|
||||||
setThrottle KEYWORD2
|
|
||||||
sendThrottle KEYWORD2
|
|
||||||
sendDShotCommand KEYWORD2
|
|
||||||
sendCommand KEYWORD2
|
|
||||||
getERPM KEYWORD2
|
|
||||||
getMotorRPM KEYWORD2
|
|
||||||
getGPIO KEYWORD2
|
|
||||||
getDShotPacket KEYWORD2
|
|
||||||
is_bidirectional KEYWORD2
|
|
||||||
printDShotInfo KEYWORD2
|
|
||||||
printCpuInfo KEYWORD2
|
|
||||||
|
|
||||||
# DShotCommandManager Methods
|
|
||||||
sendCommand KEYWORD2
|
|
||||||
sendCommandWithDelay KEYWORD2
|
|
||||||
stopMotor KEYWORD2
|
|
||||||
set3DMode KEYWORD2
|
|
||||||
setSpinDirection KEYWORD2
|
|
||||||
saveSettings KEYWORD2
|
|
||||||
setExtendedTelemetry KEYWORD2
|
|
||||||
requestESCInfo KEYWORD2
|
|
||||||
setLED KEYWORD2
|
|
||||||
activateBeacon KEYWORD2
|
|
||||||
setAudioStreamMode KEYWORD2
|
|
||||||
setSilentMode KEYWORD2
|
|
||||||
executeSequence KEYWORD2
|
|
||||||
executeInitSequence KEYWORD2
|
|
||||||
executeCalibrationSequence KEYWORD2
|
|
||||||
getCommandName KEYWORD2
|
|
||||||
isValidCommand KEYWORD2
|
|
||||||
printStatistics KEYWORD2
|
|
||||||
resetStatistics KEYWORD2
|
|
||||||
getTotalCommandCount KEYWORD2
|
|
||||||
getFailedCommandCount KEYWORD2
|
|
||||||
getLastExecutionTime KEYWORD2
|
|
||||||
printMenu KEYWORD2
|
|
||||||
handleMenuInput KEYWORD2
|
|
||||||
|
|
||||||
#######################################
|
#######################################
|
||||||
# Constants (LITERAL1)
|
# Constants (LITERAL1)
|
||||||
|
|
|
||||||
|
|
@ -1,5 +1,5 @@
|
||||||
name=DShotRMT
|
name=DShotRMT
|
||||||
version=0.8.3
|
version=0.8.6
|
||||||
author=Wastl Kraus <wir-sind-die-matrix.de>
|
author=Wastl Kraus <wir-sind-die-matrix.de>
|
||||||
maintainer=Wastl Kraus <wir-sind-die-matrix.de>
|
maintainer=Wastl Kraus <wir-sind-die-matrix.de>
|
||||||
license=MIT
|
license=MIT
|
||||||
|
|
@ -8,4 +8,4 @@ paragraph=This library can control a BlHeli_S by using encoded DShot commands.
|
||||||
category=Signal Input/Output
|
category=Signal Input/Output
|
||||||
url=https://github.com/derdoktor667/DShotRMT
|
url=https://github.com/derdoktor667/DShotRMT
|
||||||
architectures=esp32
|
architectures=esp32
|
||||||
provides_includes=DShotRMT.h, dshot_commands.h, web_content.h, ota_update.h
|
provides_includes=DShotRMT.h, dshot_definitions.h, web_content.h, ota_update.h
|
||||||
256
src/DShotRMT.cpp
256
src/DShotRMT.cpp
|
|
@ -8,29 +8,6 @@
|
||||||
|
|
||||||
#include <DShotRMT.h>
|
#include <DShotRMT.h>
|
||||||
|
|
||||||
// Timing parameters for each DShot mode
|
|
||||||
// Format: {bit_length_us, t1h_length_us}
|
|
||||||
static constexpr dshot_timing_us_t DSHOT_TIMING_US[] = {
|
|
||||||
{0.00, 0.00}, // DSHOT_OFF
|
|
||||||
{6.67, 5.00}, // DSHOT150
|
|
||||||
{3.33, 2.50}, // DSHOT300
|
|
||||||
{1.67, 1.25}, // DSHOT600
|
|
||||||
{0.83, 0.67}}; // DSHOT1200
|
|
||||||
|
|
||||||
// Helper function to print DShot results and telemetry
|
|
||||||
void printDShotResult(dshot_result_t &result, Stream &output)
|
|
||||||
{
|
|
||||||
output.printf("Status: %s - %s", result.success ? "SUCCESS" : "FAILED", result.msg);
|
|
||||||
|
|
||||||
// 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();
|
|
||||||
}
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|
||||||
|
|
||||||
// Constructors & Destructor
|
// Constructors & Destructor
|
||||||
// Constructor with GPIO number
|
// Constructor with GPIO number
|
||||||
DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional, uint16_t magnet_count)
|
DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional, uint16_t magnet_count)
|
||||||
|
|
@ -38,17 +15,16 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional, ui
|
||||||
_mode(mode),
|
_mode(mode),
|
||||||
_is_bidirectional(is_bidirectional),
|
_is_bidirectional(is_bidirectional),
|
||||||
_motor_magnet_count(magnet_count),
|
_motor_magnet_count(magnet_count),
|
||||||
_dshot_timing(DSHOT_TIMING_US[mode]),
|
_dshot_timing(DSHOT_TIMING_US[static_cast<int>(mode)]),
|
||||||
_frame_timer_us(0),
|
_frame_timer_us(0),
|
||||||
_rmt_ticks{0},
|
_rmt_ticks{0},
|
||||||
_last_throttle(DSHOT_CMD_MOTOR_STOP),
|
_last_throttle(static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP)),
|
||||||
_last_transmission_time_us(0),
|
_last_transmission_time_us(0),
|
||||||
_last_command_timestamp(0),
|
_last_command_timestamp(0),
|
||||||
_parsed_packet(0),
|
_encoded_frame_value(0),
|
||||||
_packet{0},
|
_packet{0},
|
||||||
_bitPositions{0},
|
_pulse_level(1), // DShot standard: signal is idle-low, so pulses start by going HIGH
|
||||||
_level0(1), // DShot standard: signal is idle-low, so pulses start by going HIGH
|
_idle_level(0), // DShot standard: signal returns to LOW after the high pulse
|
||||||
_level1(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),
|
||||||
|
|
@ -62,7 +38,6 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional, ui
|
||||||
{
|
{
|
||||||
// Pre-calculate timing and bit positions for performance
|
// Pre-calculate timing and bit positions for performance
|
||||||
_preCalculateRMTTicks();
|
_preCalculateRMTTicks();
|
||||||
_preCalculateBitPositions();
|
|
||||||
|
|
||||||
// Activate internal pullup resistor
|
// Activate internal pullup resistor
|
||||||
// gpio_set_pull_mode(_gpio, GPIO_PULLUP_ONLY);
|
// gpio_set_pull_mode(_gpio, GPIO_PULLUP_ONLY);
|
||||||
|
|
@ -112,7 +87,7 @@ dshot_result_t DShotRMT::begin()
|
||||||
{
|
{
|
||||||
if (!_initTXChannel().success)
|
if (!_initTXChannel().success)
|
||||||
{
|
{
|
||||||
return {false, TX_INIT_FAILED};
|
return {false, dshot_msg_code_t::DSHOT_ERROR_TX_INIT_FAILED};
|
||||||
}
|
}
|
||||||
|
|
||||||
if (_is_bidirectional)
|
if (_is_bidirectional)
|
||||||
|
|
@ -123,7 +98,7 @@ dshot_result_t DShotRMT::begin()
|
||||||
rmt_disable(_rmt_tx_channel);
|
rmt_disable(_rmt_tx_channel);
|
||||||
rmt_del_channel(_rmt_tx_channel);
|
rmt_del_channel(_rmt_tx_channel);
|
||||||
_rmt_tx_channel = nullptr;
|
_rmt_tx_channel = nullptr;
|
||||||
return {false, RX_INIT_FAILED};
|
return {false, dshot_msg_code_t::DSHOT_ERROR_RX_INIT_FAILED};
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
@ -134,16 +109,17 @@ dshot_result_t DShotRMT::begin()
|
||||||
rmt_del_channel(_rmt_tx_channel);
|
rmt_del_channel(_rmt_tx_channel);
|
||||||
_rmt_tx_channel = nullptr;
|
_rmt_tx_channel = nullptr;
|
||||||
|
|
||||||
if (_rmt_rx_channel) {
|
if (_rmt_rx_channel)
|
||||||
|
{
|
||||||
rmt_disable(_rmt_rx_channel);
|
rmt_disable(_rmt_rx_channel);
|
||||||
rmt_del_channel(_rmt_rx_channel);
|
rmt_del_channel(_rmt_rx_channel);
|
||||||
_rmt_rx_channel = nullptr;
|
_rmt_rx_channel = nullptr;
|
||||||
}
|
}
|
||||||
|
|
||||||
return {false, ENCODER_INIT_FAILED};
|
return {false, dshot_msg_code_t::DSHOT_ERROR_ENCODER_INIT_FAILED};
|
||||||
}
|
}
|
||||||
|
|
||||||
return {true, INIT_SUCCESS};
|
return {true, dshot_msg_code_t::DSHOT_ERROR_INIT_SUCCESS};
|
||||||
}
|
}
|
||||||
|
|
||||||
// Send throttle value
|
// Send throttle value
|
||||||
|
|
@ -152,7 +128,7 @@ dshot_result_t DShotRMT::sendThrottle(uint16_t throttle)
|
||||||
// A throttle value of 0 is a disarm command
|
// A throttle value of 0 is a disarm command
|
||||||
if (throttle == 0)
|
if (throttle == 0)
|
||||||
{
|
{
|
||||||
return sendCommand(DSHOT_CMD_MOTOR_STOP);
|
return sendCommand(static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP));
|
||||||
}
|
}
|
||||||
|
|
||||||
// Constrain throttle to the valid DShot range
|
// Constrain throttle to the valid DShot range
|
||||||
|
|
@ -167,7 +143,7 @@ dshot_result_t DShotRMT::sendThrottlePercent(float percent)
|
||||||
{
|
{
|
||||||
if (percent < 0.0f || percent > 100.0f)
|
if (percent < 0.0f || percent > 100.0f)
|
||||||
{
|
{
|
||||||
return {false, PERCENT_NOT_IN_RANGE};
|
return {false, dshot_msg_code_t::DSHOT_ERROR_PERCENT_NOT_IN_RANGE};
|
||||||
}
|
}
|
||||||
|
|
||||||
// Map percent to DShot throttle range
|
// Map percent to DShot throttle range
|
||||||
|
|
@ -179,9 +155,9 @@ dshot_result_t DShotRMT::sendThrottlePercent(float percent)
|
||||||
// Send DShot command to ESC
|
// Send DShot command to ESC
|
||||||
dshot_result_t DShotRMT::sendCommand(uint16_t command)
|
dshot_result_t DShotRMT::sendCommand(uint16_t command)
|
||||||
{
|
{
|
||||||
if (command > DSHOT_CMD_MAX)
|
if (command > static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MAX))
|
||||||
{
|
{
|
||||||
return {false, COMMAND_NOT_VALID};
|
return {false, dshot_msg_code_t::DSHOT_ERROR_COMMAND_NOT_VALID};
|
||||||
}
|
}
|
||||||
|
|
||||||
_packet = _buildDShotPacket(command);
|
_packet = _buildDShotPacket(command);
|
||||||
|
|
@ -189,13 +165,14 @@ dshot_result_t DShotRMT::sendCommand(uint16_t command)
|
||||||
}
|
}
|
||||||
|
|
||||||
// Send full DShot commands for setup etc
|
// Send full DShot commands for setup etc
|
||||||
dshot_result_t DShotRMT::sendCommand(dshot_commands_t dshot_command, uint16_t repeat_count, uint16_t delay_us)
|
// This is a blocking function that uses delayMicroseconds for repetitions.
|
||||||
|
dshot_result_t DShotRMT::sendCommand(dshotCommands_e dshot_command, uint16_t repeat_count, uint16_t delay_us)
|
||||||
{
|
{
|
||||||
dshot_result_t result = {false, UNKNOWN_ERROR};
|
dshot_result_t result = {false, dshot_msg_code_t::DSHOT_ERROR_UNKNOWN};
|
||||||
|
|
||||||
if (!_isValidCommand(dshot_command))
|
if (!_isValidCommand(dshot_command))
|
||||||
{
|
{
|
||||||
result.msg = INVALID_COMMAND;
|
result.error_code = dshot_msg_code_t::DSHOT_ERROR_INVALID_COMMAND;
|
||||||
return result;
|
return result;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
@ -209,7 +186,7 @@ dshot_result_t DShotRMT::sendCommand(dshot_commands_t dshot_command, uint16_t re
|
||||||
if (!single_result.success)
|
if (!single_result.success)
|
||||||
{
|
{
|
||||||
all_successful = false;
|
all_successful = false;
|
||||||
result.msg = single_result.msg;
|
result.error_code = single_result.error_code;
|
||||||
break;
|
break;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
@ -225,7 +202,7 @@ dshot_result_t DShotRMT::sendCommand(dshot_commands_t dshot_command, uint16_t re
|
||||||
|
|
||||||
if (result.success)
|
if (result.success)
|
||||||
{
|
{
|
||||||
result.msg = COMMAND_SUCCESS;
|
result.error_code = dshot_msg_code_t::DSHOT_ERROR_COMMAND_SUCCESS;
|
||||||
}
|
}
|
||||||
|
|
||||||
return result;
|
return result;
|
||||||
|
|
@ -234,11 +211,11 @@ dshot_result_t DShotRMT::sendCommand(dshot_commands_t dshot_command, uint16_t re
|
||||||
// Get telemetry data
|
// Get telemetry data
|
||||||
dshot_result_t DShotRMT::getTelemetry(uint16_t magnet_count)
|
dshot_result_t DShotRMT::getTelemetry(uint16_t magnet_count)
|
||||||
{
|
{
|
||||||
dshot_result_t result = {false, TELEMETRY_FAILED, NO_DSHOT_TELEMETRY, NO_DSHOT_TELEMETRY};
|
dshot_result_t result = {false, dshot_msg_code_t::DSHOT_ERROR_TELEMETRY_FAILED, NO_DSHOT_TELEMETRY, NO_DSHOT_TELEMETRY};
|
||||||
|
|
||||||
if (!_is_bidirectional)
|
if (!_is_bidirectional)
|
||||||
{
|
{
|
||||||
result.msg = BIDIR_NOT_ENABLED;
|
result.error_code = dshot_msg_code_t::DSHOT_ERROR_BIDIR_NOT_ENABLED;
|
||||||
return result;
|
return result;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
@ -260,7 +237,7 @@ dshot_result_t DShotRMT::getTelemetry(uint16_t magnet_count)
|
||||||
result.success = true;
|
result.success = true;
|
||||||
result.erpm = erpm;
|
result.erpm = erpm;
|
||||||
result.motor_rpm = motor_rpm;
|
result.motor_rpm = motor_rpm;
|
||||||
result.msg = TELEMETRY_SUCCESS;
|
result.error_code = dshot_msg_code_t::DSHOT_ERROR_TELEMETRY_SUCCESS;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
@ -271,66 +248,30 @@ dshot_result_t DShotRMT::getTelemetry(uint16_t magnet_count)
|
||||||
dshot_result_t DShotRMT::setMotorSpinDirection(bool reversed)
|
dshot_result_t DShotRMT::setMotorSpinDirection(bool reversed)
|
||||||
{
|
{
|
||||||
// Use command as a yes / no switch
|
// Use command as a yes / no switch
|
||||||
dshot_commands_t command = reversed ? DSHOT_CMD_SPIN_DIRECTION_REVERSED : DSHOT_CMD_SPIN_DIRECTION_NORMAL;
|
dshotCommands_e command = reversed ? dshotCommands_e::DSHOT_CMD_SPIN_DIRECTION_REVERSED : dshotCommands_e::DSHOT_CMD_SPIN_DIRECTION_NORMAL;
|
||||||
|
|
||||||
return sendCommand(command, SETTINGS_COMMAND_REPEATS, SETTINGS_COMMAND_DELAY_US);
|
return sendCommand(command, SETTINGS_COMMAND_REPEATS, SETTINGS_COMMAND_DELAY_US);
|
||||||
}
|
}
|
||||||
|
|
||||||
dshot_result_t DShotRMT::getESCInfo()
|
dshot_result_t DShotRMT::getESCInfo()
|
||||||
{
|
{
|
||||||
return sendCommand(DSHOT_CMD_ESC_INFO);
|
return sendCommand(static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_ESC_INFO));
|
||||||
}
|
}
|
||||||
|
|
||||||
// Use with caution
|
// Use with caution
|
||||||
dshot_result_t DShotRMT::saveESCSettings()
|
dshot_result_t DShotRMT::saveESCSettings()
|
||||||
{
|
{
|
||||||
return sendCommand(DSHOT_CMD_SAVE_SETTINGS, SETTINGS_COMMAND_REPEATS, SETTINGS_COMMAND_DELAY_US);
|
return sendCommand(dshotCommands_e::DSHOT_CMD_SAVE_SETTINGS, SETTINGS_COMMAND_REPEATS, SETTINGS_COMMAND_DELAY_US);
|
||||||
}
|
|
||||||
|
|
||||||
// Public Info & Debug Functions
|
|
||||||
void DShotRMT::setMotorMagnetCount(uint16_t magnet_count)
|
|
||||||
{
|
|
||||||
_motor_magnet_count = magnet_count;
|
|
||||||
}
|
|
||||||
|
|
||||||
void DShotRMT::printDShotInfo(Stream &output) const
|
|
||||||
{
|
|
||||||
output.println("\n === DShot Signal Info === ");
|
|
||||||
output.printf("Current Mode: DSHOT%d\n", _mode == DSHOT150 ? 150 :
|
|
||||||
_mode == DSHOT300 ? 300 :
|
|
||||||
_mode == DSHOT600 ? 600 :
|
|
||||||
_mode == DSHOT1200 ? 1200 : 0);
|
|
||||||
|
|
||||||
output.printf("Bidirectional: %s\n", _is_bidirectional ? "YES" : "NO");
|
|
||||||
output.printf("Current Packet: ");
|
|
||||||
|
|
||||||
for (int i = DSHOT_BITS_PER_FRAME - 1; i >= 0; --i)
|
|
||||||
{
|
|
||||||
output.print((_parsed_packet >> i) & 1);
|
|
||||||
}
|
|
||||||
|
|
||||||
output.printf("\nCurrent Value: %u\n", _packet.throttle_value);
|
|
||||||
}
|
|
||||||
|
|
||||||
//
|
|
||||||
void DShotRMT::printCpuInfo(Stream &output) const
|
|
||||||
{
|
|
||||||
output.println("\n === CPU Info === ");
|
|
||||||
output.printf("Chip Model: %s\n", ESP.getChipModel());
|
|
||||||
output.printf("Chip Revision: %d\n", ESP.getChipRevision());
|
|
||||||
output.printf("CPU Freq = %lu MHz\n", ESP.getCpuFreqMHz());
|
|
||||||
output.printf("XTAL Freq = %lu MHz\n", getXtalFrequencyMhz());
|
|
||||||
output.printf("APB Freq = %lu Hz\n", getApbFrequency());
|
|
||||||
}
|
}
|
||||||
|
|
||||||
// Simple check
|
// Simple check
|
||||||
bool DShotRMT::_isValidCommand(dshot_commands_t command)
|
bool DShotRMT::_isValidCommand(dshotCommands_e command)
|
||||||
{
|
{
|
||||||
return (command >= DSHOT_CMD_MOTOR_STOP && command <= DSHOT_CMD_MAX);
|
return (static_cast<uint16_t>(command) >= static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MOTOR_STOP) && static_cast<uint16_t>(command) <= static_cast<uint16_t>(dshotCommands_e::DSHOT_CMD_MAX));
|
||||||
}
|
}
|
||||||
|
|
||||||
//
|
//
|
||||||
dshot_result_t DShotRMT::_executeCommand(dshot_commands_t command)
|
dshot_result_t DShotRMT::_executeCommand(dshotCommands_e command)
|
||||||
{
|
{
|
||||||
uint64_t start_time = esp_timer_get_time();
|
uint64_t start_time = esp_timer_get_time();
|
||||||
|
|
||||||
|
|
@ -357,14 +298,14 @@ dshot_result_t DShotRMT::_initTXChannel()
|
||||||
|
|
||||||
if (rmt_new_tx_channel(&_tx_channel_config, &_rmt_tx_channel) != DSHOT_OK)
|
if (rmt_new_tx_channel(&_tx_channel_config, &_rmt_tx_channel) != DSHOT_OK)
|
||||||
{
|
{
|
||||||
return {false, TX_INIT_FAILED};
|
return {false, dshot_msg_code_t::DSHOT_ERROR_TX_INIT_FAILED};
|
||||||
}
|
}
|
||||||
if (rmt_enable(_rmt_tx_channel) != DSHOT_OK)
|
if (rmt_enable(_rmt_tx_channel) != DSHOT_OK)
|
||||||
{
|
{
|
||||||
return {false, TX_INIT_FAILED};
|
return {false, dshot_msg_code_t::DSHOT_ERROR_TX_INIT_FAILED};
|
||||||
}
|
}
|
||||||
|
|
||||||
return {true, TX_INIT_SUCCESS};
|
return {true, dshot_msg_code_t::DSHOT_ERROR_TX_INIT_SUCCESS};
|
||||||
}
|
}
|
||||||
|
|
||||||
dshot_result_t DShotRMT::_initRXChannel()
|
dshot_result_t DShotRMT::_initRXChannel()
|
||||||
|
|
@ -372,7 +313,7 @@ dshot_result_t DShotRMT::_initRXChannel()
|
||||||
// Double check if bidirectional mode is enabled
|
// Double check if bidirectional mode is enabled
|
||||||
if (!_is_bidirectional)
|
if (!_is_bidirectional)
|
||||||
{
|
{
|
||||||
return {true, NONE};
|
return {true, dshot_msg_code_t::DSHOT_ERROR_NONE};
|
||||||
}
|
}
|
||||||
|
|
||||||
_rx_channel_config.gpio_num = _gpio;
|
_rx_channel_config.gpio_num = _gpio;
|
||||||
|
|
@ -386,19 +327,19 @@ dshot_result_t DShotRMT::_initRXChannel()
|
||||||
|
|
||||||
if (rmt_new_rx_channel(&_rx_channel_config, &_rmt_rx_channel) != DSHOT_OK)
|
if (rmt_new_rx_channel(&_rx_channel_config, &_rmt_rx_channel) != DSHOT_OK)
|
||||||
{
|
{
|
||||||
return {false, RX_INIT_FAILED};
|
return {false, dshot_msg_code_t::DSHOT_ERROR_RX_INIT_FAILED};
|
||||||
}
|
}
|
||||||
|
|
||||||
// Register the callback function that will be triggered when a frame is received
|
// Register the callback function that will be triggered when a frame is received
|
||||||
_rx_event_callbacks.on_recv_done = _on_rx_done;
|
_rx_event_callbacks.on_recv_done = _on_rx_done;
|
||||||
if (rmt_rx_register_event_callbacks(_rmt_rx_channel, &_rx_event_callbacks, this) != DSHOT_OK)
|
if (rmt_rx_register_event_callbacks(_rmt_rx_channel, &_rx_event_callbacks, this) != DSHOT_OK)
|
||||||
{
|
{
|
||||||
return {false, CALLBACK_REGISTERING_FAILED};
|
return {false, dshot_msg_code_t::DSHOT_ERROR_CALLBACK_REGISTERING_FAILED};
|
||||||
}
|
}
|
||||||
|
|
||||||
if (rmt_enable(_rmt_rx_channel) != DSHOT_OK)
|
if (rmt_enable(_rmt_rx_channel) != DSHOT_OK)
|
||||||
{
|
{
|
||||||
return {false, RX_INIT_FAILED};
|
return {false, dshot_msg_code_t::DSHOT_ERROR_RX_INIT_FAILED};
|
||||||
}
|
}
|
||||||
|
|
||||||
// Start the receiver to wait for incoming telemetry data
|
// Start the receiver to wait for incoming telemetry data
|
||||||
|
|
@ -406,22 +347,38 @@ dshot_result_t DShotRMT::_initRXChannel()
|
||||||
size_t rx_size_bytes = GCR_BITS_PER_FRAME * sizeof(rmt_symbol_word_t);
|
size_t rx_size_bytes = GCR_BITS_PER_FRAME * sizeof(rmt_symbol_word_t);
|
||||||
if (rmt_receive(_rmt_rx_channel, rx_symbols, rx_size_bytes, &_rmt_rx_config) != DSHOT_OK)
|
if (rmt_receive(_rmt_rx_channel, rx_symbols, rx_size_bytes, &_rmt_rx_config) != DSHOT_OK)
|
||||||
{
|
{
|
||||||
return {false, RECEIVER_FAILED};
|
return {false, dshot_msg_code_t::DSHOT_ERROR_RECEIVER_FAILED};
|
||||||
}
|
}
|
||||||
|
|
||||||
return {true, RX_INIT_SUCCESS};
|
return {true, dshot_msg_code_t::DSHOT_ERROR_RX_INIT_SUCCESS};
|
||||||
}
|
}
|
||||||
|
|
||||||
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, ENCODER_INIT_FAILED};
|
return {false, dshot_msg_code_t::DSHOT_ERROR_ENCODER_INIT_FAILED};
|
||||||
}
|
}
|
||||||
|
|
||||||
return {true, ENCODER_INIT_SUCCESS};
|
return {true, dshot_msg_code_t::DSHOT_ERROR_ENCODER_INIT_SUCCESS};
|
||||||
}
|
}
|
||||||
|
|
||||||
// Private Packet Management Functions
|
// Private Packet Management Functions
|
||||||
|
|
@ -439,7 +396,7 @@ dshot_packet_t DShotRMT::_buildDShotPacket(const uint16_t &value)
|
||||||
return packet;
|
return packet;
|
||||||
}
|
}
|
||||||
|
|
||||||
uint16_t DShotRMT::_parseDShotPacket(const dshot_packet_t &packet)
|
uint16_t DShotRMT::_buildDShotFrameValue(const dshot_packet_t &packet)
|
||||||
{
|
{
|
||||||
// Combine throttle, telemetry bit, and CRC into a single 16-bit frame
|
// Combine throttle, telemetry bit, and CRC into a single 16-bit frame
|
||||||
uint16_t data_and_telemetry = (packet.throttle_value << 1) | packet.telemetric_request;
|
uint16_t data_and_telemetry = (packet.throttle_value << 1) | packet.telemetric_request;
|
||||||
|
|
@ -479,63 +436,34 @@ void DShotRMT::_preCalculateRMTTicks()
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
void DShotRMT::_preCalculateBitPositions()
|
|
||||||
{
|
|
||||||
// Pre-calculate bit positions to avoid redundant calculations in the encoding loop
|
|
||||||
for (int i = 0; i < DSHOT_BITS_PER_FRAME; ++i)
|
|
||||||
{
|
|
||||||
_bitPositions[i] = DSHOT_BITS_PER_FRAME - 1 - i;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
// Private Frame Processing Functions
|
// Private Frame Processing Functions
|
||||||
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, 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)
|
// Byte-swap the 16-bit value for correct transmission order (ESP32 is little-endian, DShot is MSB first)
|
||||||
|
uint16_t swapped_value = __builtin_bswap16(_encoded_frame_value);
|
||||||
|
|
||||||
|
// The DShot frame is 16 bits, which is 2 bytes
|
||||||
|
size_t tx_size_bytes = sizeof(swapped_value);
|
||||||
|
|
||||||
|
if (rmt_transmit(_rmt_tx_channel, _dshot_encoder, &swapped_value, tx_size_bytes, &_rmt_tx_config) != DSHOT_OK)
|
||||||
{
|
{
|
||||||
return result;
|
return {false, dshot_msg_code_t::DSHOT_ERROR_TRANSMISSION_FAILED};
|
||||||
}
|
}
|
||||||
|
|
||||||
size_t tx_size_bytes = DSHOT_BITS_PER_FRAME * sizeof(rmt_symbol_word_t);
|
_recordFrameTransmissionTime(); // Reset the timer for the next frame
|
||||||
|
|
||||||
if (rmt_transmit(_rmt_tx_channel, _dshot_encoder, tx_symbols, tx_size_bytes, &_rmt_tx_config) != DSHOT_OK)
|
return {true, dshot_msg_code_t::DSHOT_ERROR_TRANSMISSION_SUCCESS};
|
||||||
{
|
|
||||||
return {false, TRANSMISSION_FAILED};
|
|
||||||
}
|
|
||||||
|
|
||||||
_timer_reset(); // Reset the timer for the next frame
|
|
||||||
|
|
||||||
return {true, TRANSMISSION_SUCCESS};
|
|
||||||
}
|
}
|
||||||
|
|
||||||
// This function needs to be fast, as it generates the RMT symbols just before sending
|
// 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)
|
|
||||||
{
|
|
||||||
_parsed_packet = _parseDShotPacket(packet);
|
|
||||||
|
|
||||||
for (int i = 0; i < DSHOT_BITS_PER_FRAME; ++i)
|
|
||||||
{
|
|
||||||
int bit_position = _bitPositions[i];
|
|
||||||
bool bit = (_parsed_packet >> 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, 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)
|
||||||
|
|
@ -557,11 +485,11 @@ uint16_t IRAM_ATTR DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
|
||||||
uint16_t data_and_crc = (decoded_frame & DSHOT_FULL_PACKET);
|
uint16_t data_and_crc = (decoded_frame & DSHOT_FULL_PACKET);
|
||||||
|
|
||||||
// Step 4: Extract data and CRC from the 16-bit frame
|
// Step 4: Extract data and CRC from the 16-bit frame
|
||||||
uint16_t received_data = data_and_crc >> 4;
|
uint16_t received_data = data_and_crc >> DSHOT_CRC_BIT_SHIFT;
|
||||||
uint16_t received_crc = data_and_crc & DSHOT_CRC_MASK;
|
uint16_t received_crc = data_and_crc & DSHOT_CRC_MASK;
|
||||||
|
|
||||||
// Step 5: A valid response must have the telemetry request bit set to 1. This is a sanity check.
|
// Step 5: A valid response must have the telemetry request bit set to 1. This is a sanity check.
|
||||||
if (!((received_data >> 11) & 1))
|
if (!((received_data >> DSHOT_TELEMETRY_BIT_POSITION) & 1))
|
||||||
{
|
{
|
||||||
return DSHOT_NULL_PACKET;
|
return DSHOT_NULL_PACKET;
|
||||||
}
|
}
|
||||||
|
|
@ -578,7 +506,7 @@ 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();
|
||||||
|
|
@ -586,11 +514,10 @@ 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
|
||||||
|
|
@ -613,3 +540,32 @@ bool IRAM_ATTR DShotRMT::_on_rx_done(rmt_channel_handle_t rmt_rx_channel, const
|
||||||
|
|
||||||
return false;
|
return false;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// Public Static Utility Functions
|
||||||
|
void DShotRMT::printDShotInfo(const DShotRMT &dshot_rmt, Stream &output)
|
||||||
|
{
|
||||||
|
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
|
||||||
|
: dshot_rmt.getMode() == dshot_mode_t::DSHOT1200 ? 1200
|
||||||
|
: 0);
|
||||||
|
output.printf("Bidirectional: %s\n", dshot_rmt.isBidirectional() ? "YES" : "NO");
|
||||||
|
output.printf("Current Packet: ");
|
||||||
|
|
||||||
|
for (int i = DSHOT_BITS_PER_FRAME - 1; i >= 0; --i)
|
||||||
|
{
|
||||||
|
output.print((dshot_rmt.getEncodedFrameValue() >> i) & 1);
|
||||||
|
}
|
||||||
|
|
||||||
|
output.printf("\nCurrent Value: %u\n", dshot_rmt.getThrottleValue());
|
||||||
|
}
|
||||||
|
|
||||||
|
void DShotRMT::printCpuInfo(Stream &output)
|
||||||
|
{
|
||||||
|
output.println("\n === CPU Info === ");
|
||||||
|
output.printf("Chip Model: %s\n", ESP.getChipModel());
|
||||||
|
output.printf("Chip Revision: %d\n", ESP.getChipRevision());
|
||||||
|
output.printf("CPU Freq = %lu MHz\n", ESP.getCpuFreqMHz());
|
||||||
|
output.printf("XTAL Freq = %lu MHz\n", getXtalFrequencyMhz());
|
||||||
|
output.printf("APB Freq = %lu Hz\n", getApbFrequency());
|
||||||
|
}
|
||||||
191
src/DShotRMT.h
191
src/DShotRMT.h
|
|
@ -9,101 +9,81 @@
|
||||||
#pragma once
|
#pragma once
|
||||||
|
|
||||||
#include <Arduino.h>
|
#include <Arduino.h>
|
||||||
#include <dshot_commands.h>
|
#include <dshot_definitions.h>
|
||||||
#include <driver/gpio.h>
|
#include <driver/gpio.h>
|
||||||
#include <driver/rmt_tx.h>
|
#include <driver/rmt_tx.h>
|
||||||
#include <driver/rmt_rx.h>
|
#include <driver/rmt_rx.h>
|
||||||
#include <atomic>
|
#include <atomic>
|
||||||
|
|
||||||
// DShot Protocol Constants & Types
|
// Main class for DShot signal generation and reception.
|
||||||
static constexpr auto DSHOT_THROTTLE_FAILSAFE = 0;
|
// This class provides an interface to generate DShot signals for Electronic Speed Controllers (ESCs)
|
||||||
static constexpr auto DSHOT_THROTTLE_MIN = 48;
|
// and to receive telemetry data using the ESP32's RMT peripheral.
|
||||||
static constexpr auto DSHOT_THROTTLE_MAX = 2047;
|
|
||||||
static constexpr auto DSHOT_BITS_PER_FRAME = 16;
|
|
||||||
static constexpr auto DEFAULT_MOTOR_MAGNET_COUNT = 14;
|
|
||||||
|
|
||||||
// Custom status codes
|
|
||||||
static constexpr auto DSHOT_OK = 0;
|
|
||||||
static constexpr auto DSHOT_ERROR = 1;
|
|
||||||
|
|
||||||
// DShot Modes
|
|
||||||
typedef enum dshot_mode
|
|
||||||
{
|
|
||||||
DSHOT_OFF,
|
|
||||||
DSHOT150,
|
|
||||||
DSHOT300,
|
|
||||||
DSHOT600,
|
|
||||||
DSHOT1200
|
|
||||||
} dshot_mode_t;
|
|
||||||
|
|
||||||
// DShot Packet Structure
|
|
||||||
typedef struct dshot_packet
|
|
||||||
{
|
|
||||||
uint16_t throttle_value : 11;
|
|
||||||
bool telemetric_request : 1;
|
|
||||||
uint16_t checksum : 4;
|
|
||||||
} dshot_packet_t;
|
|
||||||
|
|
||||||
// DShot Timing Configuration
|
|
||||||
typedef struct dshot_timing
|
|
||||||
{
|
|
||||||
double bit_length_us;
|
|
||||||
double t1h_lenght_us;
|
|
||||||
} dshot_timing_us_t;
|
|
||||||
|
|
||||||
// RMT Timing Configuration
|
|
||||||
typedef struct rmt_ticks
|
|
||||||
{
|
|
||||||
uint16_t bit_length_ticks;
|
|
||||||
uint16_t t1h_ticks;
|
|
||||||
uint16_t t1l_ticks;
|
|
||||||
uint16_t t0h_ticks;
|
|
||||||
uint16_t t0l_ticks;
|
|
||||||
} rmt_ticks_t;
|
|
||||||
|
|
||||||
// Unified DShot Result Structure
|
|
||||||
typedef struct dshot_result
|
|
||||||
{
|
|
||||||
bool success;
|
|
||||||
const char *msg;
|
|
||||||
uint16_t erpm;
|
|
||||||
uint16_t motor_rpm;
|
|
||||||
} dshot_result_t;
|
|
||||||
|
|
||||||
// Command Type Alias
|
|
||||||
typedef dshotCommands_e dshot_commands_t;
|
|
||||||
|
|
||||||
// Helper Functions
|
|
||||||
void printDShotResult(dshot_result_t &result, Stream &output = Serial);
|
|
||||||
|
|
||||||
//
|
|
||||||
// DShotRMT Main Class
|
|
||||||
class DShotRMT
|
class DShotRMT
|
||||||
{
|
{
|
||||||
public:
|
public:
|
||||||
// Constructors & Destructor
|
// Constructor for DShotRMT with GPIO number.
|
||||||
explicit DShotRMT(gpio_num_t gpio = GPIO_NUM_16, dshot_mode_t mode = DSHOT300, bool is_bidirectional = false, uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT);
|
explicit DShotRMT(gpio_num_t gpio = GPIO_NUM_16, dshot_mode_t mode = dshot_mode_t::DSHOT300, bool is_bidirectional = false, uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT);
|
||||||
|
|
||||||
|
// Constructor for DShotRMT with Arduino pin number.
|
||||||
DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional, uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT);
|
DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional, uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT);
|
||||||
|
|
||||||
|
// Destructor for DShotRMT.
|
||||||
|
// Cleans up RMT channels and encoder resources.
|
||||||
~DShotRMT();
|
~DShotRMT();
|
||||||
|
|
||||||
// Public Core Functions
|
// Public Core Functions
|
||||||
|
// Initializes the DShot RMT channels and encoder.
|
||||||
dshot_result_t begin();
|
dshot_result_t begin();
|
||||||
|
|
||||||
|
// Sends a DShot throttle value to the ESC.
|
||||||
dshot_result_t sendThrottle(uint16_t throttle);
|
dshot_result_t sendThrottle(uint16_t throttle);
|
||||||
|
|
||||||
|
// Sends a DShot throttle value as a percentage to the ESC.
|
||||||
dshot_result_t sendThrottlePercent(float percent);
|
dshot_result_t sendThrottlePercent(float percent);
|
||||||
|
|
||||||
|
// Sends a single DShot command to the ESC.
|
||||||
dshot_result_t sendCommand(uint16_t command);
|
dshot_result_t sendCommand(uint16_t command);
|
||||||
dshot_result_t sendCommand(dshot_commands_t dshot_command, uint16_t repeat_count = DEFAULT_CMD_REPEAT_COUNT, uint16_t delay_us = DEFAULT_CMD_DELAY_US);
|
|
||||||
|
// Sends a DShot command multiple times with a delay between repetitions. This is a blocking function.
|
||||||
|
dshot_result_t sendCommand(dshotCommands_e dshot_command, uint16_t repeat_count = DEFAULT_CMD_REPEAT_COUNT, uint16_t delay_us = DEFAULT_CMD_DELAY_US);
|
||||||
|
|
||||||
|
// Retrieves telemetry data from the ESC.
|
||||||
dshot_result_t getTelemetry(uint16_t magnet_count = 0);
|
dshot_result_t getTelemetry(uint16_t magnet_count = 0);
|
||||||
|
|
||||||
|
// Sends a command to the ESC to request ESC information.
|
||||||
dshot_result_t getESCInfo();
|
dshot_result_t getESCInfo();
|
||||||
|
|
||||||
|
// Sets the motor spin direction.
|
||||||
dshot_result_t setMotorSpinDirection(bool reversed);
|
dshot_result_t setMotorSpinDirection(bool reversed);
|
||||||
|
|
||||||
|
// Sends a command to the ESC to save its current settings.
|
||||||
|
// Use with caution as this writes to ESC's non-volatile memory.
|
||||||
dshot_result_t saveESCSettings();
|
dshot_result_t saveESCSettings();
|
||||||
|
|
||||||
// Public Utility & Info Functions
|
// Public Utility & Info Functions
|
||||||
|
// Prints detailed DShot signal information for a given DShotRMT instance.
|
||||||
|
static void printDShotInfo(const DShotRMT &dshot_rmt, Stream &output = Serial);
|
||||||
|
|
||||||
|
// Prints detailed CPU information.
|
||||||
|
static void printCpuInfo(Stream &output = Serial);
|
||||||
|
|
||||||
|
// Sets the motor magnet count for RPM calculation.
|
||||||
void setMotorMagnetCount(uint16_t magnet_count);
|
void setMotorMagnetCount(uint16_t magnet_count);
|
||||||
void printDShotInfo(Stream &output = Serial) const;
|
|
||||||
void printCpuInfo(Stream &output = Serial) const;
|
// Gets the current DShot mode.
|
||||||
|
dshot_mode_t getMode() const { return _mode; }
|
||||||
|
|
||||||
|
// Checks if bidirectional DShot is enabled.
|
||||||
|
bool isBidirectional() const { return _is_bidirectional; }
|
||||||
|
|
||||||
|
// Gets the last encoded DShot frame value.
|
||||||
|
uint16_t getEncodedFrameValue() const { return _encoded_frame_value; }
|
||||||
|
|
||||||
|
// Gets the last transmitted throttle value.
|
||||||
|
uint16_t getThrottleValue() const { return _packet.throttle_value; }
|
||||||
|
|
||||||
// Deprecated Methods
|
// Deprecated Methods
|
||||||
|
// Deprecated. Use sendThrottle() instead.
|
||||||
[[deprecated("Use sendThrottle() instead")]]
|
[[deprecated("Use sendThrottle() instead")]]
|
||||||
bool setThrottle(uint16_t throttle)
|
bool setThrottle(uint16_t throttle)
|
||||||
{
|
{
|
||||||
|
|
@ -111,6 +91,7 @@ public:
|
||||||
return result.success;
|
return result.success;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// Deprecated. Use sendCommand() instead.
|
||||||
[[deprecated("Use sendCommand() instead")]]
|
[[deprecated("Use sendCommand() instead")]]
|
||||||
bool sendDShotCommand(uint16_t command)
|
bool sendDShotCommand(uint16_t command)
|
||||||
{
|
{
|
||||||
|
|
@ -118,6 +99,7 @@ public:
|
||||||
return result.success;
|
return result.success;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
// Deprecated. Use getTelemetry() instead.
|
||||||
[[deprecated("Use getTelemetry() instead")]]
|
[[deprecated("Use getTelemetry() instead")]]
|
||||||
uint32_t getMotorRPM(uint8_t magnet_count)
|
uint32_t getMotorRPM(uint8_t magnet_count)
|
||||||
{
|
{
|
||||||
|
|
@ -126,55 +108,9 @@ public:
|
||||||
}
|
}
|
||||||
|
|
||||||
private:
|
private:
|
||||||
// Configuration Constants
|
|
||||||
static constexpr auto const DSHOT_NULL_PACKET = 0b0000000000000000;
|
|
||||||
static constexpr auto const DSHOT_FULL_PACKET = 0b1111111111111111;
|
|
||||||
static constexpr auto const DSHOT_CRC_MASK = 0b0000000000001111;
|
|
||||||
static constexpr auto const DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
|
|
||||||
static constexpr auto const DSHOT_RMT_RESOLUTION = 8 * 1000 * 1000; // 8 MHz resolution
|
|
||||||
static constexpr auto const RMT_TICKS_PER_US = DSHOT_RMT_RESOLUTION / (1 * 1000 * 1000); // RMT Ticks per microsecond
|
|
||||||
static constexpr auto const DSHOT_RX_TIMEOUT_MS = 2;
|
|
||||||
static constexpr auto const DSHOT_PADDING_US = 20; // Add to pause between frames for compatibility
|
|
||||||
static constexpr auto const RMT_BUFFER_SYMBOLS = 128;
|
|
||||||
static constexpr auto const RMT_QUEUE_DEPTH = 1;
|
|
||||||
static constexpr auto const GCR_BITS_PER_FRAME = 21; // Number of GCR bits in a DShot answer frame
|
|
||||||
static constexpr auto const POLE_PAIRS_MIN = 1;
|
|
||||||
static constexpr auto const MAGNETS_PER_POLE_PAIR = 2;
|
|
||||||
static constexpr auto const NO_DSHOT_TELEMETRY = 0;
|
|
||||||
static constexpr auto const DSHOT_PULSE_MIN = 800; // 0.8us minimum pulse
|
|
||||||
static constexpr auto const DSHOT_PULSE_MAX = 8000; // 8.0us maximum pulse
|
|
||||||
static constexpr auto const DSHOT_TELEMETRY_INVALID = DSHOT_THROTTLE_MAX;
|
|
||||||
|
|
||||||
// Error Messages
|
|
||||||
static constexpr char const *NONE = "";
|
|
||||||
static constexpr char const *UNKNOWN_ERROR = "Unknown Error!";
|
|
||||||
static constexpr char const *INIT_SUCCESS = "SignalGeneratorRMT initialized successfully";
|
|
||||||
static constexpr char const *INIT_FAILED = "SignalGeneratorRMT init failed!";
|
|
||||||
static constexpr char const *TX_INIT_SUCCESS = "TX RMT channel initialized successfully";
|
|
||||||
static constexpr char const *TX_INIT_FAILED = "TX RMT channel init failed!";
|
|
||||||
static constexpr char const *RX_INIT_SUCCESS = "RX RMT channel initialized successfully";
|
|
||||||
static constexpr char const *RX_INIT_FAILED = "RX RMT channel init failed!";
|
|
||||||
static constexpr char const *ENCODER_INIT_SUCCESS = "RMT encoder initialized successfully";
|
|
||||||
static constexpr char const *ENCODER_INIT_FAILED = "RMT encoder init failed!";
|
|
||||||
static constexpr char const *ENCODING_SUCCESS = "Packet encoded successfully";
|
|
||||||
static constexpr char const *TRANSMISSION_SUCCESS = "Transmission successfully";
|
|
||||||
static constexpr char const *TRANSMISSION_FAILED = "Transmission failed!";
|
|
||||||
static constexpr char const *RECEIVER_FAILED = "RMT receiver failed!";
|
|
||||||
static constexpr char const *THROTTLE_NOT_IN_RANGE = "Throttle not in range! (48 - 2047)";
|
|
||||||
static constexpr char const *PERCENT_NOT_IN_RANGE = "Percent not in range! (0.0 - 100.0)";
|
|
||||||
static constexpr char const *COMMAND_NOT_VALID = "Command not valid! (0 - 47)";
|
|
||||||
static constexpr char const *BIDIR_NOT_ENABLED = "Bidirectional DShot not enabled!";
|
|
||||||
static constexpr char const *TELEMETRY_SUCCESS = "Valid Telemetric Frame received!";
|
|
||||||
static constexpr char const *TELEMETRY_FAILED = "No valid Telemetric Frame received!";
|
|
||||||
static constexpr char const *INVALID_MAGNET_COUNT = "Invalid motor magnet count!";
|
|
||||||
static constexpr char const *TIMING_CORRECTION = "Timing correction!";
|
|
||||||
static constexpr char const *CALLBACK_REGISTERING_FAILED = "RMT RX Callback registering failed!";
|
|
||||||
static constexpr char const *INVALID_COMMAND = "Invalid command!";
|
|
||||||
static constexpr char const *COMMAND_SUCCESS = "DShot command sent successfully";
|
|
||||||
|
|
||||||
// --- UTILITY METHODS ---
|
// --- UTILITY METHODS ---
|
||||||
bool _isValidCommand(dshot_commands_t command);
|
bool _isValidCommand(dshotCommands_e command);
|
||||||
dshot_result_t _executeCommand(dshot_commands_t command);
|
dshot_result_t _executeCommand(dshotCommands_e command);
|
||||||
|
|
||||||
// Core Configuration Variables
|
// Core Configuration Variables
|
||||||
gpio_num_t _gpio;
|
gpio_num_t _gpio;
|
||||||
|
|
@ -189,11 +125,10 @@ private:
|
||||||
uint16_t _last_throttle;
|
uint16_t _last_throttle;
|
||||||
uint64_t _last_transmission_time_us;
|
uint64_t _last_transmission_time_us;
|
||||||
uint64_t _last_command_timestamp;
|
uint64_t _last_command_timestamp;
|
||||||
uint16_t _parsed_packet;
|
uint16_t _encoded_frame_value;
|
||||||
dshot_packet_t _packet;
|
dshot_packet_t _packet;
|
||||||
uint8_t _bitPositions[DSHOT_BITS_PER_FRAME];
|
uint16_t _pulse_level; // DShot protocol: Signal is idle-low, so pulses start by going HIGH.
|
||||||
uint16_t _level0; // Signal level for the first part of a pulse (always HIGH for DShot)
|
uint16_t _idle_level; // DShot protocol: Signal returns to LOW after the high pulse.
|
||||||
uint16_t _level1; // Signal level for the second part of a pulse (always LOW for DShot)
|
|
||||||
|
|
||||||
// RMT Hardware Handles
|
// RMT Hardware Handles
|
||||||
rmt_channel_handle_t _rmt_tx_channel;
|
rmt_channel_handle_t _rmt_tx_channel;
|
||||||
|
|
@ -218,26 +153,18 @@ private:
|
||||||
|
|
||||||
// Private Packet Management Functions
|
// Private Packet Management Functions
|
||||||
dshot_packet_t _buildDShotPacket(const uint16_t &value);
|
dshot_packet_t _buildDShotPacket(const uint16_t &value);
|
||||||
uint16_t _parseDShotPacket(const dshot_packet_t &packet);
|
uint16_t _buildDShotFrameValue(const dshot_packet_t &packet);
|
||||||
uint16_t _calculateCRC(const uint16_t &data);
|
uint16_t _calculateCRC(const uint16_t &data);
|
||||||
void _preCalculateRMTTicks();
|
void _preCalculateRMTTicks();
|
||||||
void _preCalculateBitPositions();
|
|
||||||
|
|
||||||
// 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);
|
||||||
|
|
||||||
// Command Constants
|
|
||||||
static constexpr auto DEFAULT_CMD_DELAY_US = 10;
|
|
||||||
static constexpr auto DEFAULT_CMD_REPEAT_COUNT = 1;
|
|
||||||
static constexpr auto SETTINGS_COMMAND_REPEATS = 10; // Settings commands need 10 repeats
|
|
||||||
static constexpr auto SETTINGS_COMMAND_DELAY_US = 5;
|
|
||||||
};
|
};
|
||||||
|
|
|
||||||
|
|
@ -1,70 +0,0 @@
|
||||||
/*
|
|
||||||
* This file is part of Cleanflight and Betaflight.
|
|
||||||
*
|
|
||||||
* Cleanflight and Betaflight are free software. You can redistribute
|
|
||||||
* this software and/or modify this software under the terms of the
|
|
||||||
* GNU General Public License as published by the Free Software
|
|
||||||
* Foundation, either version 3 of the License, or (at your option)
|
|
||||||
* any later version.
|
|
||||||
*
|
|
||||||
* Cleanflight and Betaflight are distributed in the hope that they
|
|
||||||
* will be useful, but WITHOUT ANY WARRANTY; without even the implied
|
|
||||||
* warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
|
|
||||||
* See the GNU General Public License for more details.
|
|
||||||
*
|
|
||||||
* You should have received a copy of the GNU General Public License
|
|
||||||
* along with this software.
|
|
||||||
*
|
|
||||||
* If not, see <http://www.gnu.org/licenses/>.
|
|
||||||
*/
|
|
||||||
|
|
||||||
#pragma once
|
|
||||||
|
|
||||||
#define DSHOT_MAX_COMMAND 47
|
|
||||||
|
|
||||||
/*
|
|
||||||
DshotSettingRequest (KISS24). Spin direction, 3d and save Settings require 10 requests.. and the TLM Byte must always be high if 1-47 are used to send settings
|
|
||||||
|
|
||||||
3D Mode:
|
|
||||||
0 = stop
|
|
||||||
48 (low) - 1047 (high) -> negative direction
|
|
||||||
1048 (low) - 2047 (high) -> positive direction
|
|
||||||
*/
|
|
||||||
|
|
||||||
typedef enum
|
|
||||||
{
|
|
||||||
DSHOT_CMD_MOTOR_STOP = 0,
|
|
||||||
DSHOT_CMD_BEACON1,
|
|
||||||
DSHOT_CMD_BEACON2,
|
|
||||||
DSHOT_CMD_BEACON3,
|
|
||||||
DSHOT_CMD_BEACON4,
|
|
||||||
DSHOT_CMD_BEACON5,
|
|
||||||
DSHOT_CMD_ESC_INFO, // V2 includes settings
|
|
||||||
DSHOT_CMD_SPIN_DIRECTION_1,
|
|
||||||
DSHOT_CMD_SPIN_DIRECTION_2,
|
|
||||||
DSHOT_CMD_3D_MODE_OFF,
|
|
||||||
DSHOT_CMD_3D_MODE_ON,
|
|
||||||
DSHOT_CMD_SETTINGS_REQUEST, // Currently not implemented
|
|
||||||
DSHOT_CMD_SAVE_SETTINGS,
|
|
||||||
DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE,
|
|
||||||
DSHOT_CMD_EXTENDED_TELEMETRY_DISABLE,
|
|
||||||
DSHOT_CMD_SPIN_DIRECTION_NORMAL = 20,
|
|
||||||
DSHOT_CMD_SPIN_DIRECTION_REVERSED = 21,
|
|
||||||
DSHOT_CMD_LED0_ON, // BLHeli32 only
|
|
||||||
DSHOT_CMD_LED1_ON, // BLHeli32 only
|
|
||||||
DSHOT_CMD_LED2_ON, // BLHeli32 only
|
|
||||||
DSHOT_CMD_LED3_ON, // BLHeli32 only
|
|
||||||
DSHOT_CMD_LED0_OFF, // BLHeli32 only
|
|
||||||
DSHOT_CMD_LED1_OFF, // BLHeli32 only
|
|
||||||
DSHOT_CMD_LED2_OFF, // BLHeli32 only
|
|
||||||
DSHOT_CMD_LED3_OFF, // BLHeli32 only
|
|
||||||
DSHOT_CMD_AUDIO_STREAM_MODE_ON_OFF = 30, // KISS audio Stream mode on/Off
|
|
||||||
DSHOT_CMD_SILENT_MODE_ON_OFF = 31, // KISS silent Mode on/Off
|
|
||||||
DSHOT_CMD_MAX = 47
|
|
||||||
} dshotCommands_e;
|
|
||||||
|
|
||||||
typedef enum
|
|
||||||
{
|
|
||||||
DSHOT_CMD_TYPE_INLINE = 0, // dshot commands sent inline with motor signal (motors must be enabled)
|
|
||||||
DSHOT_CMD_TYPE_BLOCKING // dshot commands sent in blocking method (motors must be disabled)
|
|
||||||
} dshotCommandType_e;
|
|
||||||
|
|
@ -0,0 +1,288 @@
|
||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include <Arduino.h>
|
||||||
|
#include <driver/gpio.h> // Added for gpio_num_t
|
||||||
|
#include <driver/rmt_tx.h>
|
||||||
|
#include <driver/rmt_rx.h>
|
||||||
|
#include <atomic> // Added for std::atomic
|
||||||
|
|
||||||
|
// Defines the available DShot communication speeds.
|
||||||
|
enum class dshot_mode_t
|
||||||
|
{
|
||||||
|
DSHOT_OFF,
|
||||||
|
DSHOT150,
|
||||||
|
DSHOT300,
|
||||||
|
DSHOT600,
|
||||||
|
DSHOT1200
|
||||||
|
};
|
||||||
|
|
||||||
|
// Represents the 16-bit DShot data packet sent to the ESC.
|
||||||
|
typedef struct dshot_packet
|
||||||
|
{
|
||||||
|
uint16_t throttle_value : 11; // 11-bit throttle value or command.
|
||||||
|
bool telemetric_request : 1; // 1-bit telemetry request flag.
|
||||||
|
uint16_t checksum : 4; // 4-bit CRC checksum.
|
||||||
|
} dshot_packet_t;
|
||||||
|
|
||||||
|
// Defines the bit length and high time for a '1' bit in microseconds for each DShot mode.
|
||||||
|
typedef struct dshot_timing
|
||||||
|
{
|
||||||
|
double bit_length_us; // Total duration of one bit in microseconds.
|
||||||
|
double t1h_lenght_us; // High time duration for a '1' bit in microseconds.
|
||||||
|
} dshot_timing_us_t;
|
||||||
|
|
||||||
|
// Stores pre-calculated timing values in RMT ticks for efficient signal generation.
|
||||||
|
typedef struct rmt_ticks
|
||||||
|
{
|
||||||
|
uint16_t bit_length_ticks; // Total duration of one bit in RMT ticks.
|
||||||
|
uint16_t t1h_ticks; // High time duration for a '1' bit in RMT ticks.
|
||||||
|
uint16_t t1l_ticks; // Low time duration for a '1' bit in RMT ticks.
|
||||||
|
uint16_t t0h_ticks; // High time duration for a '0' bit in RMT ticks.
|
||||||
|
uint16_t t0l_ticks; // Low time duration for a '0' bit in RMT ticks.
|
||||||
|
} rmt_ticks_t;
|
||||||
|
|
||||||
|
// Enum class for specific error and success codes returned by DShotRMT functions.
|
||||||
|
enum class dshot_msg_code_t
|
||||||
|
{
|
||||||
|
DSHOT_ERROR_NONE = 0,
|
||||||
|
DSHOT_ERROR_UNKNOWN,
|
||||||
|
DSHOT_ERROR_TX_INIT_FAILED,
|
||||||
|
DSHOT_ERROR_RX_INIT_FAILED,
|
||||||
|
DSHOT_ERROR_ENCODER_INIT_FAILED,
|
||||||
|
DSHOT_ERROR_CALLBACK_REGISTERING_FAILED,
|
||||||
|
DSHOT_ERROR_RECEIVER_FAILED,
|
||||||
|
DSHOT_ERROR_TRANSMISSION_FAILED,
|
||||||
|
DSHOT_ERROR_THROTTLE_NOT_IN_RANGE,
|
||||||
|
DSHOT_ERROR_PERCENT_NOT_IN_RANGE,
|
||||||
|
DSHOT_ERROR_COMMAND_NOT_VALID,
|
||||||
|
DSHOT_ERROR_BIDIR_NOT_ENABLED,
|
||||||
|
DSHOT_ERROR_TELEMETRY_FAILED,
|
||||||
|
DSHOT_ERROR_INVALID_MAGNET_COUNT,
|
||||||
|
DSHOT_ERROR_INVALID_COMMAND,
|
||||||
|
DSHOT_ERROR_TIMING_CORRECTION,
|
||||||
|
DSHOT_ERROR_INIT_FAILED,
|
||||||
|
DSHOT_ERROR_INIT_SUCCESS,
|
||||||
|
DSHOT_ERROR_TX_INIT_SUCCESS,
|
||||||
|
DSHOT_ERROR_RX_INIT_SUCCESS,
|
||||||
|
DSHOT_ERROR_ENCODER_INIT_SUCCESS,
|
||||||
|
DSHOT_ERROR_ENCODING_SUCCESS,
|
||||||
|
DSHOT_ERROR_TRANSMISSION_SUCCESS,
|
||||||
|
DSHOT_ERROR_TELEMETRY_SUCCESS,
|
||||||
|
DSHOT_ERROR_COMMAND_SUCCESS
|
||||||
|
};
|
||||||
|
|
||||||
|
// Contains the success status, an error code, and optional telemetry data.
|
||||||
|
typedef struct dshot_result
|
||||||
|
{
|
||||||
|
bool success;
|
||||||
|
dshot_msg_code_t error_code; // Specific error or success code.
|
||||||
|
uint16_t erpm; // Electrical RPM (eRPM) if telemetry is successful.
|
||||||
|
uint16_t motor_rpm; // Motor RPM if telemetry is successful and magnet count is known.
|
||||||
|
} dshot_result_t;
|
||||||
|
|
||||||
|
// Enum class for standard DShot commands that can be sent to an ESC.
|
||||||
|
enum dshotCommands_e
|
||||||
|
{
|
||||||
|
DSHOT_CMD_MOTOR_STOP = 0,
|
||||||
|
DSHOT_CMD_BEACON1,
|
||||||
|
DSHOT_CMD_BEACON2,
|
||||||
|
DSHOT_CMD_BEACON3,
|
||||||
|
DSHOT_CMD_BEACON4,
|
||||||
|
DSHOT_CMD_BEACON5,
|
||||||
|
DSHOT_CMD_ESC_INFO, // V2 includes settings
|
||||||
|
DSHOT_CMD_SPIN_DIRECTION_1,
|
||||||
|
DSHOT_CMD_SPIN_DIRECTION_2,
|
||||||
|
DSHOT_CMD_3D_MODE_OFF,
|
||||||
|
DSHOT_CMD_3D_MODE_ON,
|
||||||
|
DSHOT_CMD_SETTINGS_REQUEST, // Currently not implemented
|
||||||
|
DSHOT_CMD_SAVE_SETTINGS,
|
||||||
|
DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE,
|
||||||
|
DSHOT_CMD_EXTENDED_TELEMETRY_DISABLE,
|
||||||
|
DSHOT_CMD_SPIN_DIRECTION_NORMAL = 20,
|
||||||
|
DSHOT_CMD_SPIN_DIRECTION_REVERSED = 21,
|
||||||
|
DSHOT_CMD_LED0_ON, // BLHeli32 only
|
||||||
|
DSHOT_CMD_LED1_ON, // BLHeli32 only
|
||||||
|
DSHOT_CMD_LED2_ON, // BLHeli32 only
|
||||||
|
DSHOT_CMD_LED3_ON, // BLHeli32 only
|
||||||
|
DSHOT_CMD_LED0_OFF, // BLHeli32 only
|
||||||
|
DSHOT_CMD_LED1_OFF, // BLHeli32 only
|
||||||
|
DSHOT_CMD_LED2_OFF, // BLHeli32 only
|
||||||
|
DSHOT_CMD_LED3_OFF, // BLHeli32 only
|
||||||
|
DSHOT_CMD_AUDIO_STREAM_MODE_ON_OFF = 30, // KISS audio Stream mode on/Off
|
||||||
|
DSHOT_CMD_SILENT_MODE_ON_OFF = 31, // KISS silent Mode on/Off
|
||||||
|
DSHOT_CMD_MAX = 47
|
||||||
|
};
|
||||||
|
|
||||||
|
// Defines how DShot commands are sent.
|
||||||
|
enum class dshotCommandType_e
|
||||||
|
{
|
||||||
|
DSHOT_CMD_TYPE_INLINE = 0, // Commands sent inline with motor signal (motors must be enabled).
|
||||||
|
DSHOT_CMD_TYPE_BLOCKING // Commands sent in blocking method (motors must be disabled).
|
||||||
|
};
|
||||||
|
|
||||||
|
// DShot Protocol Constants
|
||||||
|
const uint16_t DSHOT_THROTTLE_FAILSAFE = 0;
|
||||||
|
const uint16_t DSHOT_THROTTLE_MIN = 48;
|
||||||
|
const uint16_t DSHOT_THROTTLE_MAX = 2047;
|
||||||
|
const uint16_t DSHOT_BITS_PER_FRAME = 16;
|
||||||
|
const uint16_t DEFAULT_MOTOR_MAGNET_COUNT = 14;
|
||||||
|
|
||||||
|
// Custom status codes
|
||||||
|
const int DSHOT_OK = 0;
|
||||||
|
const int DSHOT_ERROR = 1;
|
||||||
|
|
||||||
|
// Configuration Constants (from DShotRMT.h private section)
|
||||||
|
const uint16_t DSHOT_NULL_PACKET = 0b0000000000000000;
|
||||||
|
const uint16_t DSHOT_FULL_PACKET = 0b1111111111111111;
|
||||||
|
const uint16_t DSHOT_CRC_MASK = 0b0000000000001111;
|
||||||
|
const rmt_clock_source_t DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
|
||||||
|
const uint32_t DSHOT_RMT_RESOLUTION = 8 * 1000 * 1000; // 8 MHz resolution
|
||||||
|
const uint16_t RMT_TICKS_PER_US = DSHOT_RMT_RESOLUTION / (1 * 1000 * 1000); // RMT Ticks per microsecond
|
||||||
|
const uint16_t DSHOT_RX_TIMEOUT_MS = 2;
|
||||||
|
const uint16_t DSHOT_PADDING_US = 20; // Add to pause between frames for compatibility
|
||||||
|
const uint16_t RMT_BUFFER_SYMBOLS = 64;
|
||||||
|
const uint16_t RMT_QUEUE_DEPTH = 1;
|
||||||
|
const uint16_t GCR_BITS_PER_FRAME = 21; // Number of GCR bits in a DShot answer frame
|
||||||
|
const uint16_t POLE_PAIRS_MIN = 1;
|
||||||
|
const uint16_t MAGNETS_PER_POLE_PAIR = 2;
|
||||||
|
const uint16_t NO_DSHOT_TELEMETRY = 0;
|
||||||
|
const uint16_t DSHOT_PULSE_MIN = 800; // 0.8us minimum pulse
|
||||||
|
const uint16_t DSHOT_PULSE_MAX = 8000; // 8.0us maximum pulse
|
||||||
|
const uint16_t DSHOT_TELEMETRY_INVALID = DSHOT_THROTTLE_MAX;
|
||||||
|
const uint16_t DSHOT_TELEMETRY_BIT_POSITION = 11; // Bit position of the telemetry request flag in the DShot frame
|
||||||
|
const uint16_t DSHOT_CRC_BIT_SHIFT = 4; // Number of bits to shift to extract data from data_and_crc
|
||||||
|
|
||||||
|
// Command Constants (from DShotRMT.h private section)
|
||||||
|
const uint16_t DEFAULT_CMD_DELAY_US = 10;
|
||||||
|
const uint16_t DEFAULT_CMD_REPEAT_COUNT = 1;
|
||||||
|
const uint16_t SETTINGS_COMMAND_REPEATS = 10; // Settings commands need 10 repeats
|
||||||
|
const uint16_t SETTINGS_COMMAND_DELAY_US = 5;
|
||||||
|
|
||||||
|
// Timing parameters for each DShot mode
|
||||||
|
// Format: {bit_length_us, t1h_length_us}
|
||||||
|
const dshot_timing_us_t DSHOT_TIMING_US[] = {
|
||||||
|
{0.00, 0.00}, // DSHOT_OFF
|
||||||
|
{6.67, 5.00}, // DSHOT150
|
||||||
|
{3.33, 2.50}, // DSHOT300
|
||||||
|
{1.67, 1.25}, // DSHOT600
|
||||||
|
{0.83, 0.67}}; // DSHOT1200
|
||||||
|
|
||||||
|
// Error Messages
|
||||||
|
const char *const NONE = "";
|
||||||
|
const char *const UNKNOWN_ERROR = "Unknown Error!";
|
||||||
|
const char *const INIT_SUCCESS = "SignalGeneratorRMT initialized successfully";
|
||||||
|
const char *const INIT_FAILED = "SignalGeneratorRMT init failed!";
|
||||||
|
const char *const TX_INIT_SUCCESS = "TX RMT channel initialized successfully";
|
||||||
|
const char *const TX_INIT_FAILED = "TX RMT channel init failed!";
|
||||||
|
const char *const RX_INIT_SUCCESS = "RX RMT channel initialized successfully";
|
||||||
|
const char *const RX_INIT_FAILED = "RX RMT channel init failed!";
|
||||||
|
const char *const ENCODER_INIT_SUCCESS = "RMT encoder initialized successfully";
|
||||||
|
const char *const ENCODER_INIT_FAILED = "RMT encoder init failed!";
|
||||||
|
const char *const ENCODING_SUCCESS = "Packet encoded successfully";
|
||||||
|
const char *const TRANSMISSION_SUCCESS = "Transmission successfully";
|
||||||
|
const char *const TRANSMISSION_FAILED = "Transmission failed!";
|
||||||
|
const char *const RECEIVER_FAILED = "RMT receiver failed!";
|
||||||
|
const char *const THROTTLE_NOT_IN_RANGE = "Throttle not in range! (48 - 2047)";
|
||||||
|
const char *const PERCENT_NOT_IN_RANGE = "Percent not in range! (0.0 - 100.0)";
|
||||||
|
const char *const COMMAND_NOT_VALID = "Command not valid! (0 - 47)";
|
||||||
|
const char *const BIDIR_NOT_ENABLED = "Bidirectional DShot not enabled!";
|
||||||
|
const char *const TELEMETRY_SUCCESS = "Valid Telemetric Frame received!";
|
||||||
|
const char *const TELEMETRY_FAILED = "No valid Telemetric Frame received!";
|
||||||
|
const char *const INVALID_MAGNET_COUNT = "Invalid motor magnet count!";
|
||||||
|
const char *const TIMING_CORRECTION = "Timing correction!";
|
||||||
|
const char *const CALLBACK_REGISTERING_FAILED = "RMT RX Callback registering failed!";
|
||||||
|
const char *const INVALID_COMMAND = "Invalid command!";
|
||||||
|
const char *const COMMAND_SUCCESS = "DShot command sent successfully";
|
||||||
|
|
||||||
|
// Helper Functions
|
||||||
|
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();
|
||||||
|
}
|
||||||
|
|
@ -9,7 +9,7 @@
|
||||||
#pragma once
|
#pragma once
|
||||||
|
|
||||||
// Web Site Content
|
// Web Site Content
|
||||||
static constexpr char index_html[] = R"rawliteral(
|
const char *index_html = R"rawliteral(
|
||||||
<!DOCTYPE html>
|
<!DOCTYPE html>
|
||||||
<html lang="de">
|
<html lang="de">
|
||||||
|
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue