...hotfix: memory consumption
...update callback ...performance optimizations ... fix memory consumption ...update timers ...clean up ...update GCR logic ...some more memory testing ...optimize encoder logic
This commit is contained in:
Wastl Kraus
GitHub
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d9d8dce251
128
DShotRMT.cpp
128
DShotRMT.cpp
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@ -7,7 +7,6 @@
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*/
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#include "DShotRMT.h"
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#include <driver/rmt_tx.h>
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// Timing parameters for each DShot mode
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// Format: {frame_length_us, ticks_per_bit, ticks_one_high, ticks_one_low, ticks_zero_high, ticks_zero_low}
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@ -19,19 +18,24 @@ static constexpr dshot_timing_t DSHOT_TIMINGS[] = {
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{16, 8, 6, 2, 3, 5} // DSHOT1200
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};
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// Primary constructor with GPIO number
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// Constructor with GPIO number
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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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_is_bidirectional(is_bidirectional),
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_frame_timer_us(0),
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_timing_config(DSHOT_TIMINGS[mode]),
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_rmt_tx_channel(nullptr),
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_rmt_rx_channel(nullptr),
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_dshot_encoder(nullptr),
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_last_transmission_time(0),
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_last_erpm(0),
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_parsed_packet(0),
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_packet{0},
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_last_transmission_time(0),
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_rmt_tx_channel(nullptr),
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_rmt_rx_channel(nullptr),
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_dshot_encoder(nullptr),
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_tx_channel_config{},
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_rx_channel_config{},
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_transmit_config{},
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_receive_config{},
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_rx_queue(nullptr)
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{
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// Calculate frame timing including switch/pause time
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@ -84,14 +88,14 @@ DShotRMT::~DShotRMT()
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// Initialize DShotRMT
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uint16_t DShotRMT::begin()
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{
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// Initialize TX channel
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// Init TX channel
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if (!_initTXChannel())
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{
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_dshot_log(TX_INIT_FAILED);
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return DSHOT_ERROR;
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}
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// Initialize RX channel only if bidirectional mode is enabled
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// Init RX channel
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if (_is_bidirectional)
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{
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if (!_initRXChannel())
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@ -101,7 +105,7 @@ uint16_t DShotRMT::begin()
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}
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}
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// Initialize DShot encoder
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// Init DShot encoder
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if (_initDShotEncoder() != DSHOT_OK)
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{
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_dshot_log(ENCODER_INIT_FAILED);
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@ -111,7 +115,7 @@ uint16_t DShotRMT::begin()
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return DSHOT_OK;
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}
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// Initialize RMT TX channel
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// Init RMT TX channel
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bool DShotRMT::_initTXChannel()
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{
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// Configure TX channel
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@ -121,7 +125,7 @@ bool DShotRMT::_initTXChannel()
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_tx_channel_config.mem_block_symbols = RMT_BUFFER_SYMBOLS;
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_tx_channel_config.trans_queue_depth = RMT_QUEUE_DEPTH;
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// Configure transmission
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// Config RMT TX
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_transmit_config.loop_count = 0; // No automatic loops - real-time calculation
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_transmit_config.flags.eot_level = _is_bidirectional ? 1 : 0; // Telemetric Bit used as bidir flag
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@ -135,23 +139,23 @@ bool DShotRMT::_initTXChannel()
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return (rmt_enable(_rmt_tx_channel) == DSHOT_OK);
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}
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// Initialize RMT RX channel
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// Init RMT RX channel
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bool DShotRMT::_initRXChannel()
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{
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// Create a queue to receive data from the RX callback
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// Create a queue for RX callback data
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_rx_queue = xQueueCreate(RMT_QUEUE_DEPTH, sizeof(rmt_rx_done_event_data_t));
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if (_rx_queue == nullptr)
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{
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return DSHOT_ERROR;
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}
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// Configure RX channel parameters
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// Config RMT RX
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_rx_channel_config.gpio_num = _gpio;
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_rx_channel_config.clk_src = DSHOT_CLOCK_SRC_DEFAULT;
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_rx_channel_config.resolution_hz = DSHOT_RMT_RESOLUTION;
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_rx_channel_config.mem_block_symbols = RMT_BUFFER_SYMBOLS;
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// Configure reception parameters
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// Config RMT RX parameters
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_receive_config.signal_range_min_ns = DSHOT_PULSE_MIN;
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_receive_config.signal_range_max_ns = DSHOT_PULSE_MAX;
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@ -162,9 +166,10 @@ bool DShotRMT::_initRXChannel()
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return DSHOT_ERROR;
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}
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// Register callback for reception
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_rx_event_cbs.on_recv_done = _rmt_rx_done_callback;
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if (rmt_rx_register_event_callbacks(_rmt_rx_channel, &_rx_event_cbs, _rx_queue) != DSHOT_OK)
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// Register RX callback
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_rx_event_callbacks.on_recv_done = _rmt_rx_done_callback;
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if (rmt_rx_register_event_callbacks(_rmt_rx_channel, &_rx_event_callbacks, _rx_queue) != DSHOT_OK)
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{
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_dshot_log(RX_INIT_FAILED);
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return DSHOT_ERROR;
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@ -174,14 +179,14 @@ bool DShotRMT::_initRXChannel()
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}
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// Callback for RMT RX
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bool IRAM_ATTR DShotRMT::_rmt_rx_done_callback(rmt_channel_handle_t rx_chan, const rmt_rx_done_event_data_t *edata, void *user_data)
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bool IRAM_ATTR DShotRMT::_rmt_rx_done_callback(rmt_channel_handle_t rmt_rx_channel, const rmt_rx_done_event_data_t *edata, void *user_data)
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{
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// Get the queue handle
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// Init RX buffer
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QueueHandle_t rx_queue = (QueueHandle_t)user_data;
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BaseType_t xHigherPriorityTaskWoken = pdFALSE;
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// Send the event data to the queue
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xQueueSendFromISR(rx_queue, edata, &xHigherPriorityTaskWoken);
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// Copy callback data into RX buffer
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xQueueGenericSendFromISR(rx_queue, edata, &xHigherPriorityTaskWoken, queueSEND_TO_BACK);
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return (xHigherPriorityTaskWoken == pdTRUE);
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}
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@ -340,20 +345,26 @@ uint16_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
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// Enable RMT RX before RMT TX
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if (_is_bidirectional)
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{
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rmt_receive(_rmt_rx_channel, _rx_symbols, sizeof(_rx_symbols), &_receive_config);
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// Performance reasons
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rmt_symbol_word_t rx_symbols[DSHOT_BITS_PER_FRAME];
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rmt_receive(_rmt_rx_channel, rx_symbols, sizeof(rx_symbols), &_receive_config);
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// Disable RMT RX for sending
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rmt_disable(_rmt_rx_channel);
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}
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// Local for performance
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rmt_symbol_word_t tx_symbols[DSHOT_BITS_PER_FRAME];
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// Encode DShot packet into RMT symbols
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_encodeDShotFrame(packet, _tx_symbols);
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_encodeDShotFrame(packet, tx_symbols);
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// Calculate transmission data size
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size_t tx_size_bytes = DSHOT_BITS_PER_FRAME * sizeof(rmt_symbol_word_t);
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// Perform RMT transmission
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uint16_t result = rmt_transmit(_rmt_tx_channel, _dshot_encoder, _tx_symbols, tx_size_bytes, &_transmit_config);
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uint16_t result = rmt_transmit(_rmt_tx_channel, _dshot_encoder, tx_symbols, tx_size_bytes, &_transmit_config);
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if (result != DSHOT_OK)
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{
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@ -377,31 +388,19 @@ uint16_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
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// Encode DShot packet into RMT symbol format (placed in IRAM for performance)
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bool IRAM_ATTR DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols)
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{
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// Parse packet to 16-bit format
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_parsed_packet = _parseDShotPacket(packet);
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// Convert each bit to RMT symbol
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const uint16_t level0 = _is_bidirectional ? 0 : 1;
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const uint16_t level1 = _is_bidirectional ? 1 : 0;
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for (int i = 0; i < DSHOT_BITS_PER_FRAME; i++)
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{
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// Extract bit from packet
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// Decode MSB
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bool bit = (_parsed_packet >> (DSHOT_BITS_PER_FRAME - 1 - i)) & 0b0000000000000001;
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if (_is_bidirectional)
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{
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// Bidirectional DShot uses inverted levels - Idle HIGH
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symbols[i].level0 = 0;
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symbols[i].duration0 = bit ? _timing_config.ticks_one_high : _timing_config.ticks_zero_high;
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symbols[i].level1 = 1;
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symbols[i].duration1 = bit ? _timing_config.ticks_one_low : _timing_config.ticks_zero_low;
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}
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else
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{
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// Standard DShot levels - Idle LOW
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symbols[i].level0 = 1;
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symbols[i].duration0 = bit ? _timing_config.ticks_one_high : _timing_config.ticks_zero_high;
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symbols[i].level1 = 0;
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symbols[i].duration1 = bit ? _timing_config.ticks_one_low : _timing_config.ticks_zero_low;
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}
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symbols[i].level0 = level0;
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symbols[i].duration0 = bit ? _timing_config.ticks_one_high : _timing_config.ticks_zero_high;
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symbols[i].level1 = level1;
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symbols[i].duration1 = bit ? _timing_config.ticks_one_low : _timing_config.ticks_zero_low;
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}
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return DSHOT_OK;
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@ -410,30 +409,33 @@ bool IRAM_ATTR DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_sym
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// Decode received RMT symbols
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uint16_t DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
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{
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// DShot answer is GCR encoded?
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// DShot answer is GCR encoded.
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// GCR decoding: bit_N = gcr_bit_N ^ gcr_bit_(N-1)
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uint32_t raw_gcr_data = 0;
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// Reconstruct the raw GCR frame from RMT symbols
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for (size_t i = 0; i < DSHOT_BITS_PER_FRAME; ++i)
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// Based on DShot bidirectional protocol, idle state is high,
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// so the first duration is a low pulse.
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// Bit 1: long low pulse, short high pulse
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// Bit 0: short low pulse, long high pulse
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for (size_t i = 0; i < GCR_BITS_PER_FRAME; ++i)
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{
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// Based on DShot bidirectional protocol, idle state is high, so first duration is low pulse.
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// Bit 1: long low pulse, short high pulse
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// Bit 0: short low pulse, long high pulse
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// Check which duration is longer to determine if it's a '1' bit
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bool bit_is_one = symbols[i].duration0 > symbols[i].duration1;
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raw_gcr_data = (raw_gcr_data << 1) | bit_is_one;
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}
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// Extract the 10-bit data from the GCR frame
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uint16_t gcr_data = (raw_gcr_data >> 5) & 0b0000001111111111; // Mask for 10 bits
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// GCR decoding over the "throttle" bits
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// GCR encoding rule is: bit_n = gcr_bit_n ^ gcr_bit_(n-1)
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uint16_t gcr_data = (raw_gcr_data >> 5) & 0b000000001111111111;
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uint16_t received_data = gcr_data ^ (gcr_data >> 1);
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// Extract CRC from gcr answer
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uint16_t received_crc = raw_gcr_data & 0b0000000000001111;
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// Extract CRC from gcr answer (4 bits)
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uint16_t received_crc = raw_gcr_data & 0b0000000000001111; // Mask for 4 bits
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// Calculate expected CRC using the new, centralized function
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uint16_t data_for_crc = (received_data << 1) | 1; // Telemetry request bit is always 1 for bidirectional
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// Telemetry request bit is always 1 for bidirectional
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uint16_t data_for_crc = (received_data << 1) | 1;
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uint16_t calculated_crc = _calculateCRC(data_for_crc);
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// Validate CRC
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@ -450,10 +452,10 @@ uint16_t DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
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// Check if enough time has passed for next transmission
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bool IRAM_ATTR DShotRMT::_timer_signal()
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{
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uint32_t current_time = micros();
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uint64_t current_time = esp_timer_get_time();
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// Handle potential overflow
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uint32_t elapsed = current_time - _last_transmission_time;
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uint64_t elapsed = current_time - _last_transmission_time;
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return elapsed >= _frame_timer_us;
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}
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@ -461,7 +463,7 @@ bool IRAM_ATTR DShotRMT::_timer_signal()
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// Reset transmission timer to current time
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bool DShotRMT::_timer_reset()
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{
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_last_transmission_time = micros();
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_last_transmission_time = esp_timer_get_time();
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return DSHOT_OK;
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}
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@ -473,10 +475,10 @@ void DShotRMT::printDshotInfo(Stream &output) const
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// Current DShot mode
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output.printf("Current Mode: DSHOT%d\n",
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_mode == DSHOT150 ? 150 : _mode == DSHOT300 ? 300
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: _mode == DSHOT600 ? 600
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: _mode == DSHOT1200 ? 1200
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: 0);
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_mode == DSHOT150 ? 150 :
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_mode == DSHOT300 ? 300 :
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_mode == DSHOT600 ? 600 :
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_mode == DSHOT1200 ? 1200 : 0);
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output.printf("Bidirectional: %s\n", _is_bidirectional ? "YES" : "NO");
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37
DShotRMT.h
37
DShotRMT.h
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@ -13,8 +13,6 @@
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#include <driver/gpio.h>
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#include <driver/rmt_tx.h>
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#include <driver/rmt_rx.h>
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#include <iostream>
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#include <string_view>
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// DShot Protocol Constants
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constexpr auto DSHOT_THROTTLE_FAILSAFE = 0;
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@ -29,6 +27,7 @@ constexpr auto DSHOT_RX_TIMEOUT_MS = 2;
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constexpr auto DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
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constexpr auto DSHOT_RMT_RESOLUTION = 10 * 1000 * 1000; // 10 MHz resolution
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constexpr auto RMT_BUFFER_SIZE = DSHOT_BITS_PER_FRAME;
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constexpr auto GCR_BITS_PER_FRAME = 20;
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constexpr auto RMT_BUFFER_SYMBOLS = 64;
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constexpr auto RMT_QUEUE_DEPTH = 1;
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@ -70,7 +69,7 @@ typedef struct
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class DShotRMT
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{
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public:
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// Primary constructor with GPIO enum
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// Constructor with GPIO enum
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explicit DShotRMT(gpio_num_t gpio = GPIO_NUM_16,
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dshot_mode_t mode = DSHOT300,
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bool is_bidirectional = false);
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@ -121,7 +120,7 @@ private:
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const dshot_timing_t &_timing_config;
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// --- TIMING & STATE VARIABLES ---
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uint32_t _last_transmission_time;
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uint64_t _last_transmission_time;
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uint16_t _last_erpm;
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uint16_t _parsed_packet;
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dshot_packet_t _packet;
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@ -137,10 +136,6 @@ private:
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rmt_transmit_config_t _transmit_config;
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rmt_receive_config_t _receive_config;
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// --- RMT DATA BUFFERS ---
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rmt_symbol_word_t _tx_symbols[RMT_BUFFER_SYMBOLS];
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rmt_symbol_word_t _rx_symbols[RMT_BUFFER_SYMBOLS];
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// --- INITS ---
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bool _initTXChannel();
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bool _initRXChannel();
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@ -162,24 +157,24 @@ private:
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// -- CALLBACKS ---
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QueueHandle_t _rx_queue;
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rmt_rx_event_callbacks_t _rx_event_cbs;
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static bool IRAM_ATTR _rmt_rx_done_callback(rmt_channel_handle_t rx_chan, const rmt_rx_done_event_data_t *edata, void *user_data);
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rmt_rx_event_callbacks_t _rx_event_callbacks;
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static bool IRAM_ATTR _rmt_rx_done_callback(rmt_channel_handle_t rmt_rx_channel, const rmt_rx_done_event_data_t *edata, void *user_data);
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// --- ERROR HANDLING & LOGGING ---
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void _dshot_log(std::string_view msg) { std::cerr << msg << '\n'; }
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void _dshot_log(const char *msg, Stream &output = Serial) { output.println(msg); }
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// --- CONSTANTS & ERROR MESSAGES ---
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static constexpr uint16_t DSHOT_OK = 0;
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static constexpr uint16_t DSHOT_ERROR = 1;
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static constexpr std::string_view NEW_LINE = " ";
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static constexpr std::string_view TX_INIT_FAILED = "Failed to initialize TX channel!";
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static constexpr std::string_view RX_INIT_FAILED = "Failed to initialize RX channel!";
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static constexpr std::string_view ENCODER_INIT_FAILED = "Failed to initialize DShot encoder!";
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static constexpr std::string_view CRC_CHECK_FAILED = "RX CRC Check failed!";
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static constexpr std::string_view THROTTLE_NOT_IN_RANGE = "Throttle value not in range (48 - 2047)!";
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static constexpr std::string_view COMMAND_NOT_VALID = "Not a valid DShot Command (0 - 47)!";
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static constexpr std::string_view BIDIR_NOT_ENABLED = "Bidirectional DShot support not enabled!";
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static constexpr std::string_view RX_RMT_RECEIVER_ERROR = "RX RMT receiver error!";
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static constexpr std::string_view PACKET_BUILD_ERROR = "Value too big for DShot Packet!";
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static constexpr char *NEW_LINE = " ";
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static constexpr char *TX_INIT_FAILED = "Failed to initialize TX channel!";
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static constexpr char *RX_INIT_FAILED = "Failed to initialize RX channel!";
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static constexpr char *ENCODER_INIT_FAILED = "Failed to initialize DShot encoder!";
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static constexpr char *CRC_CHECK_FAILED = "RX CRC Check failed!";
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static constexpr char *THROTTLE_NOT_IN_RANGE = "Throttle value not in range (48 - 2047)!";
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static constexpr char *COMMAND_NOT_VALID = "Not a valid DShot Command (0 - 47)!";
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static constexpr char *BIDIR_NOT_ENABLED = "Bidirectional DShot support not enabled!";
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static constexpr char *RX_RMT_RECEIVER_ERROR = "RX RMT receiver error!";
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static constexpr char *PACKET_BUILD_ERROR = "Value too big for DShot Packet!";
|
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};
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||||
|
|
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Loading…
Reference in New Issue