...keep things simple
...example sketch was getting out of hands
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Wastl Kraus
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DShotRMT.cpp
39
DShotRMT.cpp
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@ -9,13 +9,13 @@
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#include "DShotRMT.h"
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// --- DShot Timings ---
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// frame_length_us, ticks_per_bit, ticks_one_high, ticks_zero_high, ticks_zero_low, ticks_one_low
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// frame_length_us, ticks_per_bit, ticks_one_high, ticks_one_low, ticks_zero_high, ticks_zero_low
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constexpr dshot_timing_t DSHOT_TIMINGS[] = {
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{0, 0, 0, 0, 0, 0}, // DSHOT_OFF
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{128, 64, 48, 24, 40, 16}, // DSHOT150
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{64, 32, 24, 12, 20, 8}, // DSHOT300
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{32, 16, 12, 6, 10, 4}, // DSHOT600
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{16, 8, 6, 3, 5, 2} // DSHOT1200
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{128, 64, 48, 16, 24, 40}, // DSHOT150
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{64, 32, 24, 8, 12, 20}, // DSHOT300
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{32, 16, 12, 4, 6, 10}, // DSHOT600
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{16, 8, 6, 2, 3, 5} // DSHOT1200
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};
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// --- DShot Config ---
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@ -48,9 +48,10 @@ DShotRMT::DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional):
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mode,
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is_bidirectional)
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{
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// ...just to accept pin numbers and GPIO_NUMs
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}
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// Init DShotRMT
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// Setup and configure DShotRMT
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bool DShotRMT::begin()
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{
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// Init TX Channel
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@ -78,7 +79,7 @@ bool DShotRMT::begin()
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return DSHOT_OK;
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}
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// Deprecated, use "sendThrottle() instead"
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// Deprecated, use "sendThrottle()"" instead
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bool DShotRMT::setThrottle(uint16_t throttle)
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{
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return sendThrottle(throttle);
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@ -87,24 +88,17 @@ bool DShotRMT::setThrottle(uint16_t throttle)
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// Sends a valid throttle value
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bool DShotRMT::sendThrottle(uint16_t throttle)
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{
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static uint16_t last_throttle = DSHOT_THROTTLE_MIN;
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// Make sure throttle value is valid by force
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auto value = constrain(throttle, DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX);
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// Precheck throttle value
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if (throttle < DSHOT_THROTTLE_MIN || throttle > DSHOT_THROTTLE_MAX)
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{
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Serial.println(DSHOT_MSG_06);
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return DSHOT_ERROR;
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} else {
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last_throttle = throttle;
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}
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// Converts throttle value to dshot packet
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_packet = _buildDShotPacket(last_throttle);
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// Converts throttle value to dshot packet RMT symbols
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_packet = _buildDShotPacket(value);
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// Actually send the RMT symbols
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return (_sendDShotFrame(_packet));
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}
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// Deprecated, use "sendCommand() instead"
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// Deprecated, use "sendCommand()"" instead
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bool DShotRMT::sendDShotCommand(uint16_t command)
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{
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return sendCommand(command);
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@ -192,8 +186,9 @@ bool DShotRMT::_initRXChannel()
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_rx_channel_config.resolution_hz = DSHOT_RMT_RESOLUTION;
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_rx_channel_config.mem_block_symbols = DSHOT_SYMBOLS_SIZE;
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_receive_config.signal_range_min_ns = 300;
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_receive_config.signal_range_max_ns = 5000;
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// TODO: need to figure out
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_receive_config.signal_range_min_ns = 2;
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_receive_config.signal_range_max_ns = 128;
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// Creates and activates RMT TX Channel
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if (rmt_new_rx_channel(&_rx_channel_config, &_rmt_rx_channel) != DSHOT_OK)
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@ -54,9 +54,9 @@ typedef struct dshot_timing_s
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uint16_t frame_length_us;
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uint16_t ticks_per_bit;
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uint16_t ticks_one_high;
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uint16_t ticks_one_low;
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uint16_t ticks_zero_high;
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uint16_t ticks_zero_low;
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uint16_t ticks_one_low;
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} dshot_timing_t;
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extern const dshot_timing_t DSHOT_TIMINGS[];
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@ -10,13 +10,13 @@
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#include <DShotRMT.h>
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// USB serial port settings
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static constexpr HardwareSerial &USB_SERIAL = Serial0;
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static constexpr uint32_t USB_SERIAL_BAUD = 115200;
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static constexpr auto &USB_SERIAL = Serial0;
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static constexpr auto USB_SERIAL_BAUD = 115200;
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// Motor configuration
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// Pin number or GPIO_PIN
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// static constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_17;
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static constexpr uint16_t MOTOR01_PIN = 17;
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static constexpr auto MOTOR01_PIN = 17;
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// Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
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static constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
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@ -25,10 +25,10 @@ static constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
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static constexpr bool IS_BIDIRECTIONAL = false;
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// Motor magnet count for RPM calculation
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static constexpr uint8_t MOTOR01_MAGNET_COUNT = 14;
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static constexpr auto MOTOR01_MAGNET_COUNT = 14;
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//
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//
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// Create the motor instance
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DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE, IS_BIDIRECTIONAL);
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//
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@ -51,48 +51,32 @@ void setup()
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//
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void loop()
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{
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// Read value input from Serial
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uint16_t throttle_input = readSerialThrottle(USB_SERIAL);
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static auto throttle = DSHOT_THROTTLE_MIN;
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// Send the value to the ESC
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motor01.sendThrottle(throttle_input);
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// Prints out RPM if BiDirectional DShot is enabled every 2 seconds
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printRPMPeriodically(2000);
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// Prints out "raw" DShot packet every 2 seconds
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// printTXPacket(2000);
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}
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// Reads throttle value from serial input
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uint16_t readSerialThrottle(HardwareSerial &serial)
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if (USB_SERIAL.available() > NULL)
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{
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static uint16_t last_throttle = DSHOT_THROTTLE_MIN;
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if (serial.available() > NULL)
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{
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// Reads a value
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uint16_t throttle = (serial.readStringUntil('\n').toInt());
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// Check for valid throttle value
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if (throttle < DSHOT_THROTTLE_MIN || throttle > DSHOT_THROTTLE_MAX)
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{
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USB_SERIAL.println("Throttle value not in range (48 - 2047)!");
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return last_throttle;
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}
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last_throttle = throttle;
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auto new_throttle = (USB_SERIAL.readStringUntil('\n').toInt());
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USB_SERIAL.println("*********************");
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USB_SERIAL.print("Throttle set to: ");
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USB_SERIAL.println(last_throttle);
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USB_SERIAL.println(new_throttle);
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//
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throttle = new_throttle;
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}
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return last_throttle;
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// Sends the value to the ESC
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motor01.sendThrottle(throttle);
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// Prints out RPM if BiDirectional DShot is enabled every 2 seconds
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// printRPMPeriodically(2000);
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// Debug: Prints out "raw" DShot packet every 2 seconds
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print_RMT_packet(2000);
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}
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// Prints RPM every ms
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void printRPMPeriodically(uint16_t timer_ms)
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void printRPMPeriodically(auto timer_ms)
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{
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if (IS_BIDIRECTIONAL)
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{
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@ -100,7 +84,7 @@ void printRPMPeriodically(uint16_t timer_ms)
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if (millis() - last_print_time >= timer_ms)
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{
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uint32_t rpm = motor01.getMotorRPM(MOTOR01_MAGNET_COUNT);
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auto rpm = motor01.getMotorRPM(MOTOR01_MAGNET_COUNT);
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USB_SERIAL.print("RPM: ");
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USB_SERIAL.println(rpm);
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@ -111,13 +95,13 @@ void printRPMPeriodically(uint16_t timer_ms)
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}
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// Prints "raw" packet every ms
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void printTXPacket(uint16_t timer_ms)
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void print_RMT_packet(auto timer_ms)
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{
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static unsigned long last_print_time = 0;
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if (millis() - last_print_time >= timer_ms)
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{
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uint16_t packet = motor01.getDShotPacket();
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auto packet = motor01.getDShotPacket();
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// Print bit by bit
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for (int i = 15; i >= 0; --i)
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