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DShotRMT
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...just some ideas

This commit is contained in:
Wastl Kraus 2025-08-02 17:20:32 +02:00
parent 95c9100ecb
commit e4a5e1f304
4 changed files with 60 additions and 7 deletions
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18
DShotRMT.cpp
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@ -65,7 +65,6 @@ bool DShotRMT::begin()
//
bool DShotRMT::setThrottle(uint16_t throttle)
{
// DShot Frame Container
dshot_packet_t packet = {};
@ -80,6 +79,23 @@ bool DShotRMT::setThrottle(uint16_t throttle)
}
}
//
bool DShotRMT::sendDShotCommand(uint16_t command)
{
// DShot Frame Container
dshot_packet_t packet = {};
// Create DShot packet
packet.throttle_value = constrain(command, DSHOT_CMD_MOTOR_STOP, DSHOT_CMD_MAX);
packet.telemetric_request = _is_bidirectional;
packet.checksum = _calculateCRC(packet);
if (!_sendDShotFrame(packet))
{
return DSHOT_ERROR;
}
}
//
uint32_t DShotRMT::getERPM()
{

1
DShotRMT.h
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@ -13,6 +13,7 @@
#include <driver/gpio.h>
#include <driver/rmt_tx.h>
#include <driver/rmt_rx.h>
#include <hw_defaults.h>
static constexpr bool DSHOT_OK = 0;
static constexpr bool DSHOT_ERROR = 1;

12
examples/dshot300/dshot300.ino
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@ -10,18 +10,18 @@
#include <DShotRMT.h>
// USB serial port settings
constexpr auto &USB_SERIAL = Serial0;
constexpr uint32_t USB_SERIAL_BAUD = 115200;
static constexpr auto &USB_SERIAL = Serial0;
static constexpr uint32_t USB_SERIAL_BAUD = 115200;
// Motor configuration
constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_17;
constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
static constexpr gpio_num_t MOTOR01_PIN = PIN_UART2_RX;
static constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
// BiDirectional DShot Support (default: false)
constexpr bool IS_BIDIRECTIONAL = false;
static constexpr bool IS_BIDIRECTIONAL = false;
// Motor magnet count for RPM calculation
constexpr uint8_t MOTOR01_MAGNET_COUNT = 14;
static constexpr uint8_t MOTOR01_MAGNET_COUNT = 14;
// Setup Motor Pin, DShot Mode and optional BiDirectional Support
DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE, IS_BIDIRECTIONAL);

36
hw_defaults.h Normal file
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@ -0,0 +1,36 @@
/**
* @file hw_defaults.h
* @brief Some Shortcuts
* @author Wastl Kraus
* @date 2025-08-02
* @license MIT
*/
#ifdef ESP32
// USB-Serial (UART0): GPIO1/3 in use by default
// Serial1
constexpr auto PIN_UART1_TX = GPIO_NUM_13;
constexpr auto PIN_UART1_RX = GPIO_NUM_14;
// Serial2
constexpr auto PIN_UART2_TX = GPIO_NUM_16;
constexpr auto PIN_UART2_RX = GPIO_NUM_17;
// SPI (VSPI)
constexpr auto PIN_SPI_SCLK = GPIO_NUM_18;
constexpr auto PIN_SPI_MISO = GPIO_NUM_19;
constexpr auto PIN_SPI_MOSI = GPIO_NUM_23;
constexpr auto PIN_SPI_SS = GPIO_NUM_5;
// I2C (Wire)
constexpr auto PIN_I2C_SDA = GPIO_NUM_21;
constexpr auto PIN_I2C_SCL = GPIO_NUM_22;
// RMT (5 Channels)
constexpr auto PIN_RMT_CH0 = GPIO_NUM_25;
constexpr auto PIN_RMT_CH1 = GPIO_NUM_26;
constexpr auto PIN_RMT_CH2 = GPIO_NUM_27;
constexpr auto PIN_RMT_CH3 = GPIO_NUM_32;
constexpr auto PIN_RMT_CH4 = GPIO_NUM_33;
#endif // ESP32