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Fix RX buffer

This commit is contained in:
Wastl Kraus 2025-09-15 15:56:04 +02:00
parent f0ff887473
commit de6e1bebf9
3 changed files with 27 additions and 28 deletions
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2
library.properties
View File

@ -1,5 +1,5 @@
name=DShotRMT name=DShotRMT
version=0.7.6 version=0.8.0
author=Wastl Kraus <wir-sind-die-matrix.de> author=Wastl Kraus <wir-sind-die-matrix.de>
maintainer=Wastl Kraus <wir-sind-die-matrix.de> maintainer=Wastl Kraus <wir-sind-die-matrix.de>
license=MIT license=MIT

40
src/DShotRMT.cpp
View File

@ -53,14 +53,14 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional)
_dshot_encoder(nullptr), _dshot_encoder(nullptr),
_tx_channel_config{}, _tx_channel_config{},
_rx_channel_config{}, _rx_channel_config{},
_transmit_config{}, _rmt_tx_config{},
_receive_config{}, _rmt_rx_config{},
_rx_event_callbacks{}, _rx_event_callbacks{},
_last_erpm_atomic(0), _last_erpm_atomic(0),
_telemetry_ready_flag_atomic(false) _telemetry_ready_flag_atomic(false)
{ {
// Configure RMT ticks for DShot timings // Configure RMT ticks for DShot timings
_preCalculateRMTTiming(); _preCalculateRMTTicks();
} }
// Constructor using pin number // Constructor using pin number
@ -226,7 +226,7 @@ void DShotRMT::printDShotInfo(Stream &output) const
// Print bit by bit // Print bit by bit
for (int i = DSHOT_BITS_PER_FRAME - 1; i >= 0; --i) for (int i = DSHOT_BITS_PER_FRAME - 1; i >= 0; --i)
{ {
if ((_parsed_packet >> i) & 1) if ((_parsed_packet >> i) & 0b0000000000000001)
{ {
output.print("1"); output.print("1");
} }
@ -264,8 +264,8 @@ dshot_result_t DShotRMT::_initTXChannel()
_tx_channel_config.trans_queue_depth = RMT_QUEUE_DEPTH; _tx_channel_config.trans_queue_depth = RMT_QUEUE_DEPTH;
// Config RMT TX // Config RMT TX
_transmit_config.loop_count = 0; // No automatic loops - real-time calculation _rmt_tx_config.loop_count = 0; // No automatic loops - real-time calculation
_transmit_config.flags.eot_level = _is_bidirectional ? 1 : 0; // Telemetric Bit used as bidir flag _rmt_tx_config.flags.eot_level = _is_bidirectional ? 1 : 0; // Telemetric Bit used as bidir flag
// Create RMT TX channel // Create RMT TX channel
if (rmt_new_tx_channel(&_tx_channel_config, &_rmt_tx_channel) != DSHOT_OK) if (rmt_new_tx_channel(&_tx_channel_config, &_rmt_tx_channel) != DSHOT_OK)
@ -295,8 +295,8 @@ dshot_result_t DShotRMT::_initRXChannel()
_rx_channel_config.mem_block_symbols = RMT_BUFFER_SYMBOLS; _rx_channel_config.mem_block_symbols = RMT_BUFFER_SYMBOLS;
// Config RMT RX parameters // Config RMT RX parameters
_receive_config.signal_range_min_ns = DSHOT_PULSE_MIN; _rmt_rx_config.signal_range_min_ns = DSHOT_PULSE_MIN;
_receive_config.signal_range_max_ns = DSHOT_PULSE_MAX; _rmt_rx_config.signal_range_max_ns = DSHOT_PULSE_MAX;
// Create RMT RX channel // Create RMT RX 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)
@ -329,7 +329,7 @@ dshot_result_t DShotRMT::_initDShotEncoder()
} }
// Private Packet Management Functions // Private Packet Management Functions
// Build a complete DShot packet // Build a complete DShot packet from a valid value
dshot_packet_t DShotRMT::_buildDShotPacket(const uint16_t &value) dshot_packet_t DShotRMT::_buildDShotPacket(const uint16_t &value)
{ {
// Init packet structure // Init packet structure
@ -343,10 +343,10 @@ dshot_packet_t DShotRMT::_buildDShotPacket(const uint16_t &value)
} }
// Build packet // Build packet
packet.throttle_value = value & 0b0000011111111111; packet.throttle_value = value & DSHOT_THROTTLE_MAX;
packet.telemetric_request = _is_bidirectional ? 1 : 0; packet.telemetric_request = _is_bidirectional ? 1 : 0;
// CRC is calculated over 11bit // CRC is calculated over 12bit
uint16_t data = (packet.throttle_value << 1) | packet.telemetric_request; uint16_t data = (packet.throttle_value << 1) | packet.telemetric_request;
packet.checksum = _calculateCRC(data); packet.checksum = _calculateCRC(data);
@ -359,9 +359,7 @@ uint16_t DShotRMT::_parseDShotPacket(const dshot_packet_t &packet)
{ {
// Parse DShot frame into "raw" 16 bit value // Parse DShot frame into "raw" 16 bit value
uint16_t data_and_telemetry = (packet.throttle_value << 1) | packet.telemetric_request; uint16_t data_and_telemetry = (packet.throttle_value << 1) | packet.telemetric_request;
uint16_t parsed_packet = (data_and_telemetry << 4) | packet.checksum; return (data_and_telemetry << 4) | packet.checksum;
return parsed_packet;
} }
// Calculate CRC // Calculate CRC
@ -380,7 +378,7 @@ uint16_t DShotRMT::_calculateCRC(const uint16_t &data)
} }
// Configure RMT ticks for DShot timings // Configure RMT ticks for DShot timings
void DShotRMT::_preCalculateRMTTiming() void DShotRMT::_preCalculateRMTTicks()
{ {
// Convert DShot timings (us) to RMT ticks // Convert DShot timings (us) to RMT ticks
_rmt_ticks.bit_length_ticks = static_cast<uint16_t>(_dshot_timing.bit_length_us * RMT_TICKS_PER_US); _rmt_ticks.bit_length_ticks = static_cast<uint16_t>(_dshot_timing.bit_length_us * RMT_TICKS_PER_US);
@ -390,7 +388,7 @@ void DShotRMT::_preCalculateRMTTiming()
_rmt_ticks.t0l_ticks = _rmt_ticks.bit_length_ticks - _rmt_ticks.t0h_ticks; _rmt_ticks.t0l_ticks = _rmt_ticks.bit_length_ticks - _rmt_ticks.t0h_ticks;
// Pause between frames is frame time in us, some padding and about 30 us is added by hardware // Pause between frames is frame time in us, some padding and about 30 us is added by hardware
_frame_timer_us = (static_cast<uint32_t>(_dshot_timing.bit_length_us * DSHOT_BITS_PER_FRAME) << 1) + DSHOT_PADDING_US; _frame_timer_us = (static_cast<uint64_t>(_dshot_timing.bit_length_us * DSHOT_BITS_PER_FRAME) << 1) + DSHOT_PADDING_US;
// Double frame time for bidirectional mode (includes response time) // Double frame time for bidirectional mode (includes response time)
if (_is_bidirectional) if (_is_bidirectional)
@ -425,9 +423,9 @@ dshot_result_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
size_t rx_size_bytes = GCR_BITS_PER_FRAME * sizeof(rmt_symbol_word_t); size_t rx_size_bytes = GCR_BITS_PER_FRAME * sizeof(rmt_symbol_word_t);
// Performance reasons // Performance reasons
rmt_symbol_word_t rx_symbols[DSHOT_BITS_PER_FRAME]; rmt_symbol_word_t rx_symbols[GCR_BITS_PER_FRAME];
if (rmt_receive(_rmt_rx_channel, rx_symbols, rx_size_bytes, &_receive_config) != DSHOT_OK) if (rmt_receive(_rmt_rx_channel, rx_symbols, rx_size_bytes, &_rmt_rx_config) != DSHOT_OK)
{ {
return {false, RECEIVER_FAILED}; return {false, RECEIVER_FAILED};
} }
@ -453,7 +451,7 @@ dshot_result_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
} }
// Perform RMT transmission // Perform RMT transmission
if (rmt_transmit(_rmt_tx_channel, _dshot_encoder, tx_symbols, tx_size_bytes, &_transmit_config) != DSHOT_OK) if (rmt_transmit(_rmt_tx_channel, _dshot_encoder, tx_symbols, tx_size_bytes, &_rmt_tx_config) != DSHOT_OK)
{ {
return {false, TRANSMISSION_FAILED}; return {false, TRANSMISSION_FAILED};
} }
@ -474,7 +472,7 @@ dshot_result_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
} }
// Encode DShot packet into RMT symbol format (placed in IRAM for performance) // Encode DShot packet into RMT symbol format (placed in IRAM for performance)
bool IRAM_ATTR DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols) dshot_result_t IRAM_ATTR DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols)
{ {
_parsed_packet = _parseDShotPacket(packet); _parsed_packet = _parseDShotPacket(packet);
@ -491,7 +489,7 @@ bool IRAM_ATTR DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_sym
symbols[i].duration1 = bit ? _rmt_ticks.t1l_ticks : _rmt_ticks.t0l_ticks; symbols[i].duration1 = bit ? _rmt_ticks.t1l_ticks : _rmt_ticks.t0l_ticks;
} }
return DSHOT_OK; return {true, ENCODING_SUCCESS};
} }
// Decode DShot telemetry frame from received RMT symbols // Decode DShot telemetry frame from received RMT symbols

13
src/DShotRMT.h
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@ -144,7 +144,7 @@ private:
static constexpr auto const NO_DSHOT_TELEMETRY = 0; static constexpr auto const NO_DSHOT_TELEMETRY = 0;
static constexpr auto const DSHOT_PULSE_MIN = 3000; // 3us minimum pulse static constexpr auto const DSHOT_PULSE_MIN = 3000; // 3us minimum pulse
static constexpr auto const DSHOT_PULSE_MAX = 60000; // 60us maximum pulse static constexpr auto const DSHOT_PULSE_MAX = 60000; // 60us maximum pulse
static constexpr auto const DSHOT_TELEMETRY_INVALID = 0b1111111111111111; static constexpr auto const DSHOT_TELEMETRY_INVALID = DSHOT_THROTTLE_MAX;
// Error Messages // Error Messages
static constexpr char const *NONE = ""; static constexpr char const *NONE = "";
@ -157,6 +157,7 @@ private:
static constexpr char const *RX_INIT_FAILED = "RX RMT channel init failed!"; static constexpr char const *RX_INIT_FAILED = "RX RMT channel init failed!";
static constexpr char const *ENCODER_INIT_SUCCESS = "RMT encoder initialized successfully"; static constexpr char const *ENCODER_INIT_SUCCESS = "RMT encoder initialized successfully";
static constexpr char const *ENCODER_INIT_FAILED = "RMT encoder init failed!"; static constexpr char const *ENCODER_INIT_FAILED = "RMT encoder init failed!";
static constexpr char const *ENCODING_SUCCESS = "Packet encoded successfully";
static constexpr char const *TRANSMISSION_SUCCESS = "Transmission successfully"; static constexpr char const *TRANSMISSION_SUCCESS = "Transmission successfully";
static constexpr char const *TRANSMISSION_FAILED = "Transmission failed!"; static constexpr char const *TRANSMISSION_FAILED = "Transmission failed!";
static constexpr char const *RECEIVER_FAILED = "RMT receiver failed!"; static constexpr char const *RECEIVER_FAILED = "RMT receiver failed!";
@ -173,7 +174,7 @@ private:
dshot_mode_t _mode; dshot_mode_t _mode;
bool _is_bidirectional; bool _is_bidirectional;
const dshot_timing_us_t &_dshot_timing; const dshot_timing_us_t &_dshot_timing;
uint32_t _frame_timer_us; uint64_t _frame_timer_us;
// Timing & Packet Variables // Timing & Packet Variables
rmt_ticks_t _rmt_ticks; rmt_ticks_t _rmt_ticks;
@ -193,8 +194,8 @@ private:
// RMT Configuration Structures // RMT Configuration Structures
rmt_tx_channel_config_t _tx_channel_config; rmt_tx_channel_config_t _tx_channel_config;
rmt_rx_channel_config_t _rx_channel_config; rmt_rx_channel_config_t _rx_channel_config;
rmt_transmit_config_t _transmit_config; rmt_transmit_config_t _rmt_tx_config;
rmt_receive_config_t _receive_config; rmt_receive_config_t _rmt_rx_config;
// Bidirectional / Telemetry Variables // Bidirectional / Telemetry Variables
rmt_rx_event_callbacks_t _rx_event_callbacks; rmt_rx_event_callbacks_t _rx_event_callbacks;
@ -210,12 +211,12 @@ private:
dshot_packet_t _buildDShotPacket(const uint16_t &value); dshot_packet_t _buildDShotPacket(const uint16_t &value);
uint16_t _parseDShotPacket(const dshot_packet_t &packet); uint16_t _parseDShotPacket(const dshot_packet_t &packet);
uint16_t _calculateCRC(const uint16_t &data); uint16_t _calculateCRC(const uint16_t &data);
void _preCalculateRMTTiming(); void _preCalculateRMTTicks();
void _preCalculateBitPositions(); void _preCalculateBitPositions();
// Private Frame Processing Functions // Private Frame Processing Functions
dshot_result_t _sendDShotFrame(const dshot_packet_t &packet); dshot_result_t _sendDShotFrame(const dshot_packet_t &packet);
bool _encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols); dshot_result_t _encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols);
uint16_t _decodeDShotFrame(const rmt_symbol_word_t *symbols); uint16_t _decodeDShotFrame(const rmt_symbol_word_t *symbols);
// Private Timing Control Functions // Private Timing Control Functions