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...keep things simple 

...example sketch was getting out of hands
This commit is contained in:
Wastl Kraus 2025-08-17 18:58:40 +02:00
parent 8edbe8c5eb
commit c37a66d5a5
3 changed files with 43 additions and 64 deletions
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39
DShotRMT.cpp
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@ -9,13 +9,13 @@
#include "DShotRMT.h" #include "DShotRMT.h"
// --- DShot Timings --- // --- DShot Timings ---
// frame_length_us, ticks_per_bit, ticks_one_high, ticks_zero_high, ticks_zero_low, ticks_one_low // frame_length_us, ticks_per_bit, ticks_one_high, ticks_one_low, ticks_zero_high, ticks_zero_low
constexpr dshot_timing_t DSHOT_TIMINGS[] = { constexpr dshot_timing_t DSHOT_TIMINGS[] = {
{0, 0, 0, 0, 0, 0}, // DSHOT_OFF {0, 0, 0, 0, 0, 0}, // DSHOT_OFF
{128, 64, 48, 24, 40, 16}, // DSHOT150 {128, 64, 48, 16, 24, 40}, // DSHOT150
{64, 32, 24, 12, 20, 8}, // DSHOT300 {64, 32, 24, 8, 12, 20}, // DSHOT300
{32, 16, 12, 6, 10, 4}, // DSHOT600 {32, 16, 12, 4, 6, 10}, // DSHOT600
{16, 8, 6, 3, 5, 2} // DSHOT1200 {16, 8, 6, 2, 3, 5} // DSHOT1200
}; };
// --- DShot Config --- // --- DShot Config ---
@ -48,9 +48,10 @@ DShotRMT::DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional):
mode, mode,
is_bidirectional) is_bidirectional)
{ {
// ...just to accept pin numbers and GPIO_NUMs
} }
// Init DShotRMT // Setup and configure DShotRMT
bool DShotRMT::begin() bool DShotRMT::begin()
{ {
// Init TX Channel // Init TX Channel
@ -78,7 +79,7 @@ bool DShotRMT::begin()
return DSHOT_OK; return DSHOT_OK;
} }
// Deprecated, use "sendThrottle() instead" // Deprecated, use "sendThrottle()"" instead
bool DShotRMT::setThrottle(uint16_t throttle) bool DShotRMT::setThrottle(uint16_t throttle)
{ {
return sendThrottle(throttle); return sendThrottle(throttle);
@ -87,24 +88,17 @@ bool DShotRMT::setThrottle(uint16_t throttle)
// Sends a valid throttle value // Sends a valid throttle value
bool DShotRMT::sendThrottle(uint16_t throttle) bool DShotRMT::sendThrottle(uint16_t throttle)
{ {
static uint16_t last_throttle = DSHOT_THROTTLE_MIN; // Make sure throttle value is valid by force
auto value = constrain(throttle, DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX);
// Precheck throttle value // Converts throttle value to dshot packet RMT symbols
if (throttle < DSHOT_THROTTLE_MIN || throttle > DSHOT_THROTTLE_MAX) _packet = _buildDShotPacket(value);
{
Serial.println(DSHOT_MSG_06);
return DSHOT_ERROR;
} else {
last_throttle = throttle;
}
// Converts throttle value to dshot packet
_packet = _buildDShotPacket(last_throttle);
// Actually send the RMT symbols
return (_sendDShotFrame(_packet)); return (_sendDShotFrame(_packet));
} }
// Deprecated, use "sendCommand() instead" // Deprecated, use "sendCommand()"" instead
bool DShotRMT::sendDShotCommand(uint16_t command) bool DShotRMT::sendDShotCommand(uint16_t command)
{ {
return sendCommand(command); return sendCommand(command);
@ -192,8 +186,9 @@ bool DShotRMT::_initRXChannel()
_rx_channel_config.resolution_hz = DSHOT_RMT_RESOLUTION; _rx_channel_config.resolution_hz = DSHOT_RMT_RESOLUTION;
_rx_channel_config.mem_block_symbols = DSHOT_SYMBOLS_SIZE; _rx_channel_config.mem_block_symbols = DSHOT_SYMBOLS_SIZE;
_receive_config.signal_range_min_ns = 300; // TODO: need to figure out
_receive_config.signal_range_max_ns = 5000; _receive_config.signal_range_min_ns = 2;
_receive_config.signal_range_max_ns = 128;
// Creates and activates RMT TX Channel // Creates and activates RMT TX Channel
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)

2
DShotRMT.h
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@ -54,9 +54,9 @@ typedef struct dshot_timing_s
uint16_t frame_length_us; uint16_t frame_length_us;
uint16_t ticks_per_bit; uint16_t ticks_per_bit;
uint16_t ticks_one_high; uint16_t ticks_one_high;
uint16_t ticks_one_low;
uint16_t ticks_zero_high; uint16_t ticks_zero_high;
uint16_t ticks_zero_low; uint16_t ticks_zero_low;
uint16_t ticks_one_low;
} dshot_timing_t; } dshot_timing_t;
extern const dshot_timing_t DSHOT_TIMINGS[]; extern const dshot_timing_t DSHOT_TIMINGS[];

66
examples/dshot300/dshot300.ino
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@ -10,13 +10,13 @@
#include <DShotRMT.h> #include <DShotRMT.h>
// USB serial port settings // USB serial port settings
static constexpr HardwareSerial &USB_SERIAL = Serial0; static constexpr auto &USB_SERIAL = Serial0;
static constexpr uint32_t USB_SERIAL_BAUD = 115200; static constexpr auto USB_SERIAL_BAUD = 115200;
// Motor configuration // Motor configuration
// Pin number or GPIO_PIN // Pin number or GPIO_PIN
// static constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_17; // static constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_17;
static constexpr uint16_t 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 = DSHOT300;
@ -25,10 +25,10 @@ static constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
static constexpr bool IS_BIDIRECTIONAL = false; static constexpr bool IS_BIDIRECTIONAL = false;
// Motor magnet count for RPM calculation // Motor magnet count for RPM calculation
static constexpr uint8_t MOTOR01_MAGNET_COUNT = 14; static constexpr auto MOTOR01_MAGNET_COUNT = 14;
// //
// // Create the motor instance
DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE, IS_BIDIRECTIONAL); DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE, IS_BIDIRECTIONAL);
// //
@ -51,48 +51,32 @@ void setup()
// //
void loop() void loop()
{ {
// Read value input from Serial static auto throttle = DSHOT_THROTTLE_MIN;
uint16_t throttle_input = readSerialThrottle(USB_SERIAL);
if (USB_SERIAL.available() > NULL)
// Send the value to the ESC
motor01.sendThrottle(throttle_input);
// Prints out RPM if BiDirectional DShot is enabled every 2 seconds
printRPMPeriodically(2000);
// Prints out "raw" DShot packet every 2 seconds
// printTXPacket(2000);
}
// Reads throttle value from serial input
uint16_t readSerialThrottle(HardwareSerial &serial)
{
static uint16_t last_throttle = DSHOT_THROTTLE_MIN;
if (serial.available() > NULL)
{ {
// Reads a value auto new_throttle = (USB_SERIAL.readStringUntil('\n').toInt());
uint16_t throttle = (serial.readStringUntil('\n').toInt());
// Check for valid throttle value
if (throttle < DSHOT_THROTTLE_MIN || throttle > DSHOT_THROTTLE_MAX)
{
USB_SERIAL.println("Throttle value not in range (48 - 2047)!");
return last_throttle;
}
last_throttle = throttle;
USB_SERIAL.println("*********************"); USB_SERIAL.println("*********************");
USB_SERIAL.print("Throttle set to: "); USB_SERIAL.print("Throttle set to: ");
USB_SERIAL.println(last_throttle); USB_SERIAL.println(new_throttle);
//
throttle = new_throttle;
} }
return last_throttle; // Sends the value to the ESC
motor01.sendThrottle(throttle);
// Prints out RPM if BiDirectional DShot is enabled every 2 seconds
// printRPMPeriodically(2000);
// Debug: Prints out "raw" DShot packet every 2 seconds
print_RMT_packet(2000);
} }
// Prints RPM every ms // Prints RPM every ms
void printRPMPeriodically(uint16_t timer_ms) void printRPMPeriodically(auto timer_ms)
{ {
if (IS_BIDIRECTIONAL) if (IS_BIDIRECTIONAL)
{ {
@ -100,7 +84,7 @@ void printRPMPeriodically(uint16_t timer_ms)
if (millis() - last_print_time >= timer_ms) if (millis() - last_print_time >= timer_ms)
{ {
uint32_t rpm = motor01.getMotorRPM(MOTOR01_MAGNET_COUNT); auto rpm = motor01.getMotorRPM(MOTOR01_MAGNET_COUNT);
USB_SERIAL.print("RPM: "); USB_SERIAL.print("RPM: ");
USB_SERIAL.println(rpm); USB_SERIAL.println(rpm);
@ -111,13 +95,13 @@ void printRPMPeriodically(uint16_t timer_ms)
} }
// Prints "raw" packet every ms // Prints "raw" packet every ms
void printTXPacket(uint16_t timer_ms) void print_RMT_packet(auto timer_ms)
{ {
static unsigned long last_print_time = 0; static unsigned long last_print_time = 0;
if (millis() - last_print_time >= timer_ms) if (millis() - last_print_time >= timer_ms)
{ {
uint16_t packet = motor01.getDShotPacket(); auto packet = motor01.getDShotPacket();
// Print bit by bit // Print bit by bit
for (int i = 15; i >= 0; --i) for (int i = 15; i >= 0; --i)