...more simplifications
* ...more simplifications * ...strolling through the code * ...something * ...update public stuff * Update DShotRMT.cpp ...re-set telemetric bit to start motor ...don't know why it's needed right now * ...update namings * ...keep things simple ...example sketch was getting out of hands
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106
DShotRMT.cpp
106
DShotRMT.cpp
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@ -9,16 +9,16 @@
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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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//
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// --- DShot Config ---
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DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional):
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_gpio(gpio),
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_mode(mode),
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@ -28,20 +28,30 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional):
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_rmt_rx_channel(nullptr),
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_dshot_encoder(nullptr),
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_last_erpm(0),
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_last_transmission_time(0),
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_current_packet(0)
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_current_packet(0),
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_packet{0},
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_last_transmission_time(0)
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{
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// Double up frame time for bidirectional mode
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if (_is_bidirectional)
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{
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_frame_time_us = (_timing_config.frame_length_us << 1) + DSHOT_SWITCH_TIME;
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_frame_timer_us = (_timing_config.frame_length_us << 1) + DSHOT_SWITCH_TIME;
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}
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// Calculate frame time including switch time
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_frame_time_us = _timing_config.frame_length_us + DSHOT_SWITCH_TIME;
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_frame_timer_us = _timing_config.frame_length_us + DSHOT_SWITCH_TIME;
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}
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// Init DShotRMT
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// Easy Constructor
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DShotRMT::DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional):
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DShotRMT((gpio_num_t)pin_nr,
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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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// 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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@ -69,36 +79,43 @@ bool DShotRMT::begin()
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return DSHOT_OK;
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}
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//
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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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// 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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}
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//
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dshot_packet_t packet = _buildDShotPacket(throttle);
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return (_sendDShotFrame(packet));
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return sendThrottle(throttle);
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}
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//
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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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// 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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// 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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bool DShotRMT::sendDShotCommand(uint16_t command)
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{
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// Precheck command value
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return sendCommand(command);
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}
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bool DShotRMT::sendCommand(uint16_t command)
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{
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// Check for valid command
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if (command < DSHOT_CMD_MOTOR_STOP || command > DSHOT_CMD_MAX)
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{
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Serial.println(DSHOT_MSG_07);
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return DSHOT_ERROR;
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}
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//
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dshot_packet_t packet = _buildDShotPacket(command);
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_packet = _buildDShotPacket(command);
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return (_sendDShotFrame(packet));
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return (_sendDShotFrame(_packet));
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}
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//
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@ -118,7 +135,7 @@ uint16_t DShotRMT::getERPM()
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return _last_erpm;
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}
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// Decode the response
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// Decodes the response
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uint16_t new_erpm = _decodeDShotFrame(_rx_symbols);
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if (new_erpm != 0)
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{
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@ -145,7 +162,7 @@ bool DShotRMT::_initTXChannel()
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_tx_channel_config.mem_block_symbols = DSHOT_SYMBOLS_SIZE;
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_tx_channel_config.trans_queue_depth = TX_BUFFER_SIZE;
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//
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// No loops, real time calculation for each frame
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_transmit_config.loop_count = 0;
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// ...it's a trap
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@ -169,8 +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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@ -192,14 +210,14 @@ bool DShotRMT::_initDShotEncoder()
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// Use RMT to transmit a prepared DShot packet and returns it
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bool DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
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{
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// Exclude calculation from timing is more stable
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// Excludes calculation from timing is more stable
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rmt_symbol_word_t tx_symbols[DSHOT_BITS_PER_FRAME];
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_encodeDShotFrame(packet, tx_symbols);
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// Checking timer signal
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if (_timer_signal())
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{
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// Trigger RMT Transmit
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// Triggers RMT Transmit
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rmt_transmit(_rmt_tx_channel, _dshot_encoder, tx_symbols, DSHOT_SYMBOLS_SIZE, &_transmit_config);
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// Time Stamp
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@ -215,7 +233,7 @@ uint16_t DShotRMT::_calculateCRC(const dshot_packet_t &packet)
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uint16_t data = (packet.throttle_value << 1) | packet.telemetric_request;
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uint16_t crc = (data ^ (data >> 4) ^ (data >> 8)) & 0b0000000000001111;
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// Invert CRC for bidirectional DShot
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// Inverts CRC for bidirectional DShot
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if (_is_bidirectional)
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{
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crc = (~crc) & 0b0000000000001111;
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@ -237,9 +255,9 @@ dshot_packet_t DShotRMT::_buildDShotPacket(const uint16_t value)
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// DShot Frame Container
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dshot_packet_t packet = {};
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// Create DShot packet
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// Creates DShot packet
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packet.throttle_value = value;
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packet.telemetric_request = 0;
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packet.telemetric_request = 1; // needed to get the motor spinning
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packet.checksum = _calculateCRC(packet);
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//
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@ -252,10 +270,10 @@ bool IRAM_ATTR DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_sym
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// Parse actual packet into buffer
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_current_packet = _parseDShotPacket(packet);
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// Convert the parsed dshot frame to rmt_tx data
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// Converts the parsed dshot frame to rmt_tx data
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for (int i = 0; i < DSHOT_BITS_PER_FRAME; i++)
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{
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// Encode RMT symbols bitwise (MSB first) - tricky
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// Encoded RMT symbols bitwise (MSB first) - tricky
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bool bit = (_current_packet >> (DSHOT_BITS_PER_FRAME - 1 - i)) & 0b0000000000000001;
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if (_is_bidirectional)
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{
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@ -280,25 +298,25 @@ uint16_t DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
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{
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uint16_t received_frame = 0;
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// Decode each symbol to reconstruct the frame
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// Decodes each symbol to reconstruct the frame
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for (size_t i = 0; i < DSHOT_BITS_PER_FRAME; ++i)
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{
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bool bit = symbols[i].duration0 < symbols[i].duration1;
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received_frame = (received_frame << 1) | bit;
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}
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// Extract payload and CRC
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// Extracts payload and CRC
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uint16_t data = received_frame >> 4;
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uint16_t received_crc = received_frame & 0b0000000000001111;
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// Calculate CRC for received frame
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// Calculates CRC for received frame
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uint16_t calculated_crc = (data ^ (data >> 4) ^ (data >> 8)) & 0b0000000000001111;
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if (_is_bidirectional)
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{
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calculated_crc = (~calculated_crc) & 0b0000000000001111;
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}
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// Compare CRC
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// Compares CRC
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if (received_crc != calculated_crc)
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{
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Serial.println(DSHOT_MSG_04);
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@ -312,7 +330,7 @@ uint16_t DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
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// Timer triggered
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bool DShotRMT::_timer_signal()
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{
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return (micros() - _last_transmission_time) >= _frame_time_us;
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return (micros() - _last_transmission_time) >= _frame_timer_us;
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}
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// Updates timestamp
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24
DShotRMT.h
24
DShotRMT.h
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@ -54,29 +54,31 @@ 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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// --- DShot Timing Config ---
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extern const dshot_timing_t DSHOT_TIMINGS[];
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//
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// --- DShotRMT Class ---
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class DShotRMT
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{
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public:
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//
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// --- DShot Config ---
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DShotRMT(gpio_num_t gpio, dshot_mode_t mode = DSHOT300, bool is_bidirectional = false);
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DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional);
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// --- Init RMT Module ---
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bool begin();
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// Sets the throttle value and transmits
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bool setThrottle(uint16_t throttle);
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bool setThrottle(uint16_t throttle); // deprecated
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bool sendThrottle(uint16_t throttle);
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// Sends a DShot Command
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bool sendDShotCommand(uint16_t command);
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bool sendDShotCommand(uint16_t command); // deprecated
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bool sendCommand(uint16_t command);
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// Gets eRPM from ESC telemetry
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uint16_t getERPM();
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@ -88,7 +90,7 @@ public:
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uint16_t getGPIO() const { return _gpio; }
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// Returns "raw" Dshot packet sent by RMT
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uint16_t getDShotPacket() { return _current_packet; }
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uint16_t getDShotPacket() const { return _current_packet; }
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//
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bool is_bidirectional() const { return _is_bidirectional; }
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@ -98,7 +100,7 @@ private:
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gpio_num_t _gpio;
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dshot_mode_t _mode;
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bool _is_bidirectional;
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uint16_t _frame_time_us;
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uint16_t _frame_timer_us;
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// --- DShot Timings ---
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const dshot_timing_t &_timing_config;
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@ -117,9 +119,10 @@ private:
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// --- Buffers ---
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uint16_t _last_erpm;
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uint16_t _current_packet;
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dshot_packet_t _packet;
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unsigned long _last_transmission_time;
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//
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// ---Helpers ---
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bool _initTXChannel();
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bool _initRXChannel();
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bool _initDShotEncoder();
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@ -131,10 +134,11 @@ private:
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bool IRAM_ATTR _encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols);
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uint16_t _decodeDShotFrame(const rmt_symbol_word_t *symbols);
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// --- Simple Timer ---
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bool _timer_signal();
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bool _timer_reset();
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// Error Handling
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// --- Error Handling ---
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static constexpr bool DSHOT_OK = 0;
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static constexpr bool DSHOT_ERROR = 1;
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static constexpr char *DSHOT_MSG_01 = "Failed to initialize TX channel!";
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33
README.md
33
README.md
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@ -12,9 +12,9 @@ Supports all standard DShot modes (150, 300, 600) and features continuous frame
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## 🚀 Features
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- **All DShot Modes:** DSHOT150, DSHOT300 (default), DSHOT600
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- **BiDirectional DShot:** Experimental support for telemetry and RPM feedback
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- **Continuous Frames:** Hardware-timed, CPU-independent signal generation
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- **All DShot Modes:** DSHOT150, DSHOT300 (default), DSHOT600, (DSHOT1200)
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- **BiDirectional DShot:** Experimental support for RPM feedback
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- **Continuous Frames:** Independent timed, Hardware signal generation
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- **Configurable Pause:** Ensures ESCs can reliably detect frame boundaries
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- **Simple API:** Easy integration into your Arduino or ESP-IDF project
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@ -33,25 +33,7 @@ git clone https://github.com/derdoktor667/DShotRMT.git
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## ⚡ Quick Start
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```cpp
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#include <DShotRMT.h>
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constexpr gpio_num_t MOTOR_PIN = GPIO_NUM_17;
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constexpr dshot_mode_t MODE = DSHOT300;
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constexpr bool BIDIRECTIONAL = true;
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DShotRMT motor(MOTOR_PIN, MODE, BIDIRECTIONAL);
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void setup() {
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Serial.begin(115200);
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motor.begin();
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motor.setThrottle(1000); // Set throttle value (48–2047)
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}
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void loop() {
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// Optionally read RPM if bidirectional mode is enabled
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uint32_t rpm = motor.getMotorRPM(14); // 14 magnets
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Serial.println(rpm);
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}
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Use "dshot300.ino" example sketch
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```
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---
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@ -105,6 +87,7 @@ crc = (~(value ^ (value >> 4) ^ (value >> 8))) & 0x0F;
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The RMT (Remote Control) peripheral generates accurate, hardware-timed signals for controlling external devices.
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Perfect for DShot:
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- Utilizes latest ESP-IDF APIs
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- Hardware-timed pulses
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- CPU-independent
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- Loop mode with inter-frame pause
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@ -116,11 +99,9 @@ Perfect for DShot:
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- `DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool isBidirectional)`
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- `void begin()`
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- `void setThrottle(uint16_t throttle)`
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- `uint32_t getERPM()`
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- `uint32_t getMotorRPM(uint8_t magnet_count)`
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- `void sendThrottle(uint16_t throttle)`
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See [examples/dshot300/dshot300.ino](examples/dshot300/dshot300.ino) for a full demo.
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See [examples/dshot300/dshot300.ino](examples/dshot300/dshot300.ino) for a more informations.
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---
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@ -10,31 +10,27 @@
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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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static constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_17;
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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 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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// BiDirectional DShot Support (default: false)
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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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// Setup Motor Pin, DShot Mode and optional BiDirectional Support
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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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// Prints RPM and throttle every 2 seconds if BiDirectional is enabled
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void printRPMPeriodically(uint16_t throttle);
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// Reads throttle value from serial input
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uint16_t readSerialThrottle();
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||||
|
||||
// Prints out the dshot packet bitwise (Debug)
|
||||
void printPacket();
|
||||
|
||||
//
|
||||
void setup()
|
||||
{
|
||||
|
|
@ -45,89 +41,69 @@ void setup()
|
|||
motor01.begin();
|
||||
|
||||
// Arm ESC with minimum throttle
|
||||
motor01.setThrottle(DSHOT_THROTTLE_MIN);
|
||||
// motor01.sendThrottle(DSHOT_THROTTLE_MIN);
|
||||
|
||||
USB_SERIAL.println("**********************");
|
||||
USB_SERIAL.println("DShotRMT Demo started.");
|
||||
USB_SERIAL.println("***********************************");
|
||||
USB_SERIAL.println(" === DShotRMT Demo started. === ");
|
||||
USB_SERIAL.println("Enter a throttle value (48 – 2047):");
|
||||
}
|
||||
|
||||
//
|
||||
void loop()
|
||||
{
|
||||
// Read value input from Serial
|
||||
uint16_t throttle_input = readSerialThrottle();
|
||||
static auto throttle = DSHOT_THROTTLE_MIN;
|
||||
|
||||
// Send the value to the ESC
|
||||
motor01.setThrottle(throttle_input);
|
||||
if (USB_SERIAL.available() > NULL)
|
||||
{
|
||||
auto new_throttle = (USB_SERIAL.readStringUntil('\n').toInt());
|
||||
|
||||
// Print RPM if BiDirectional DShot is enabled
|
||||
USB_SERIAL.println("*********************");
|
||||
USB_SERIAL.print("Throttle set to: ");
|
||||
USB_SERIAL.println(new_throttle);
|
||||
|
||||
//
|
||||
throttle = new_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
|
||||
void printRPMPeriodically(auto timer_ms)
|
||||
{
|
||||
if (IS_BIDIRECTIONAL)
|
||||
{
|
||||
printRPMPeriodically(throttle_input);
|
||||
}
|
||||
|
||||
// Prints out "raw" DShot packet
|
||||
// printPacket();
|
||||
}
|
||||
|
||||
// Reads throttle value from serial input
|
||||
uint16_t readSerialThrottle()
|
||||
{
|
||||
static uint16_t last_throttle = DSHOT_THROTTLE_MIN;
|
||||
|
||||
if (USB_SERIAL.available() > 0)
|
||||
{
|
||||
String input = USB_SERIAL.readStringUntil('\n');
|
||||
int throttle_input = input.toInt();
|
||||
|
||||
if (throttle_input < DSHOT_THROTTLE_MIN || throttle_input > DSHOT_THROTTLE_MAX)
|
||||
{
|
||||
USB_SERIAL.println("Invalid input. Please enter a value between 48 and 2047.");
|
||||
return last_throttle;
|
||||
}
|
||||
else
|
||||
{
|
||||
last_throttle = throttle_input;
|
||||
USB_SERIAL.print("Throttle set to: ");
|
||||
USB_SERIAL.println(last_throttle);
|
||||
}
|
||||
|
||||
USB_SERIAL.println("*********************************");
|
||||
USB_SERIAL.println("Enter a throttle value (48 – 2047):");
|
||||
}
|
||||
|
||||
return last_throttle;
|
||||
}
|
||||
|
||||
// Prints RPM and throttle every 2 seconds
|
||||
void printRPMPeriodically(uint16_t throttle)
|
||||
{
|
||||
static unsigned long last_print_time = 0;
|
||||
|
||||
if (millis() - last_print_time >= 2000)
|
||||
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("Throttle: ");
|
||||
USB_SERIAL.print(throttle);
|
||||
USB_SERIAL.print(" | RPM: ");
|
||||
USB_SERIAL.print("RPM: ");
|
||||
USB_SERIAL.println(rpm);
|
||||
|
||||
last_print_time = millis();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
//
|
||||
void printPacket()
|
||||
// Prints "raw" packet every ms
|
||||
void print_RMT_packet(auto timer_ms)
|
||||
{
|
||||
static unsigned long last_print_time = 0;
|
||||
|
||||
if (millis() - last_print_time >= 2000)
|
||||
if (millis() - last_print_time >= timer_ms)
|
||||
{
|
||||
// Prints out actual DShot Packet bitwise
|
||||
uint16_t packet = motor01.getDShotPacket();
|
||||
auto packet = motor01.getDShotPacket();
|
||||
|
||||
// Print bit by bit
|
||||
for (int i = 15; i >= 0; --i)
|
||||
{
|
||||
if ((packet >> i) & 1)
|
||||
|
|
|
|||
|
|
@ -0,0 +1,49 @@
|
|||
#######################################
|
||||
# Syntax Coloring Map For DShotRMT
|
||||
#######################################
|
||||
|
||||
#######################################
|
||||
# Datatypes (KEYWORD1)
|
||||
#######################################
|
||||
|
||||
DShotRMT KEYWORD1
|
||||
dshot_mode_t KEYWORD1
|
||||
dshot_packet_t KEYWORD1
|
||||
dshot_timing_t KEYWORD1
|
||||
dshotCommands_e KEYWORD1
|
||||
dshotCommandType_e KEYWORD1
|
||||
|
||||
#######################################
|
||||
# Methods and Functions (KEYWORD2)
|
||||
#######################################
|
||||
|
||||
begin KEYWORD2
|
||||
setThrottle KEYWORD2
|
||||
sendThrottle KEYWORD2
|
||||
sendDShotCommand KEYWORD2
|
||||
sendCommand KEYWORD2
|
||||
getERPM KEYWORD2
|
||||
getMotorRPM KEYWORD2
|
||||
getGPIO KEYWORD2
|
||||
getDShotPacket KEYWORD2
|
||||
is_bidirectional KEYWORD2
|
||||
|
||||
#######################################
|
||||
# Constants (LITERAL1)
|
||||
#######################################
|
||||
|
||||
DSHOT_OFF LITERAL1
|
||||
DSHOT150 LITERAL1
|
||||
DSHOT300 LITERAL1
|
||||
DSHOT600 LITERAL1
|
||||
DSHOT1200 LITERAL1
|
||||
|
||||
DSHOT_THROTTLE_FAILSAFE LITERAL1
|
||||
DSHOT_THROTTLE_MIN LITERAL1
|
||||
DSHOT_THROTTLE_MAX LITERAL1
|
||||
|
||||
DSHOT_CMD_MOTOR_STOP LITERAL1
|
||||
DSHOT_CMD_MAX LITERAL1
|
||||
|
||||
DSHOT_CMD_TYPE_INLINE LITERAL1
|
||||
DSHOT_CMD_TYPE_BLOCKING LITERAL1
|
||||
|
|
@ -1,5 +1,5 @@
|
|||
name=DShotRMT
|
||||
version=0.5.0
|
||||
version=0.6.0
|
||||
author=derdoktor667
|
||||
maintainer=derdoktor667
|
||||
sentence=DShotRMT Library supporting all DShot Types and speeds. Tested with BlHeli_S.
|
||||
|
|
|
|||
Loading…
Reference in New Issue