Cansat
/
DShotRMT
2
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

...biDir is killing me on the ESP32

This commit is contained in:
Wastl Kraus 2025-07-16 14:57:25 +02:00
parent 089374d2bd
commit d8338c3346
1 changed files with 7 additions and 12 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

19
DShotRMT.cpp
View File

@ -28,10 +28,10 @@ void DShotRMT::begin()
.with_dma = false}}; .with_dma = false}};
rmt_new_rx_channel(&_rmt_rx_channel_config, &_rmt_rx_channel); rmt_new_rx_channel(&_rmt_rx_channel_config, &_rmt_rx_channel);
rmt_enable(_rmt_rx_channel); // rmt_enable(_rmt_rx_channel);
_receive_config.signal_range_min_ns = 1000; _receive_config.signal_range_min_ns = 300;
_receive_config.signal_range_max_ns = 15000; _receive_config.signal_range_max_ns = 5000;
} }
// TX RMT Channel Configuration // TX RMT Channel Configuration
@ -47,7 +47,7 @@ void DShotRMT::begin()
.with_dma = false}}; .with_dma = false}};
rmt_new_tx_channel(&_rmt_tx_channel_config, &_rmt_tx_channel); rmt_new_tx_channel(&_rmt_tx_channel_config, &_rmt_tx_channel);
rmt_enable(_rmt_tx_channel); // rmt_enable(_rmt_tx_channel);
// Use a copy encoder to send raw symbols // Use a copy encoder to send raw symbols
if (!_dshot_encoder) if (!_dshot_encoder)
@ -57,7 +57,7 @@ void DShotRMT::begin()
} }
// Configure transmission looping // Configure transmission looping
_transmit_config.loop_count = -1; _transmit_config.loop_count = 0;
_transmit_config.flags.eot_level = _isBidirectional; _transmit_config.flags.eot_level = _isBidirectional;
} }
@ -68,8 +68,8 @@ void DShotRMT::setThrottle(uint16_t throttle)
throttle = constrain(throttle, DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX) & 0b0000011111111111; throttle = constrain(throttle, DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX) & 0b0000011111111111;
// Has Throttle really changed? // Has Throttle really changed?
if (throttle == _lastThrottle) // if (throttle == _lastThrottle)
return; // return;
_lastThrottle = throttle; _lastThrottle = throttle;
@ -91,11 +91,6 @@ uint32_t DShotRMT::getERPM()
{ {
if (_isBidirectional) if (_isBidirectional)
{ {
_receive_config.signal_range_min_ns = 1000;
_receive_config.signal_range_max_ns = 15000;
rmt_enable(_rmt_rx_channel);
static size_t rx_size = sizeof(_rx_symbols); static size_t rx_size = sizeof(_rx_symbols);
if (_rmt_rx_channel == nullptr) if (_rmt_rx_channel == nullptr)