...init
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name=DShot_Lib
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||||
version=0.2.0
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author=derdoktor667
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maintainer=derdoktor667
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sentence=DShot_Lib Library supporting all DShot Types and speeds. Tested with BlHeli_S.
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paragraph=This library can control a BlHeli_S by using encoded DShot commands like Betaflight.
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category=Device Control
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url=https://github/DShot_Lib
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architectures=esp32
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# README
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This library can control a BlHeli_S by using encoded DShot commands.
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More to come
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---
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#pragma once
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// source: https://github.com/bitdump/BLHeli/blob/master/BLHeli_S%20SiLabs/Dshotprog%20spec%20BLHeli_S.txt
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enum dshot_cmd_t {
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DIGITAL_CMD_MOTOR_STOP, // Currently not implemented
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DIGITAL_CMD_BEEP1, // Wait at least length of beep (380ms) before next command
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DIGITAL_CMD_BEEP2, // Wait at least length of beep (380ms) before next command
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DIGITAL_CMD_BEEP3, // Wait at least length of beep (400ms) before next command
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DIGITAL_CMD_BEEP4, // Wait at least length of beep (400ms) before next command
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DIGITAL_CMD_BEEP5, // Wait at least length of beep (400ms) before next command
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DIGITAL_CMD_ESC_INFO, // Wait at least 12ms before next command
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DIGITAL_CMD_SPIN_DIRECTION_1, // Currently not implemented
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DIGITAL_CMD_SPIN_DIRECTION_2, // Need 6x, no wait required
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DIGITAL_CMD_3D_MODE_OFF, // Need 6x, no wait required
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DIGITAL_CMD_3D_MODE_ON, // Need 6x, no wait required
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DIGITAL_CMD_SETTINGS_REQUEST, // Currently not implemented
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DIGITAL_CMD_SAVE_SETTINGS, // Need 6x, wait at least 12ms before next command
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DIGITAL_CMD_SPIN_DIRECTION_NORMAL = 20, // Need 6x, no wait required
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DIGITAL_CMD_SPIN_DIRECTION_REVERSED, // Need 6x, no wait required
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DIGITAL_CMD_LED0_ON, // No wait required
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DIGITAL_CMD_LED1_ON, // No wait required
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DIGITAL_CMD_LED2_ON, // No wait required
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DIGITAL_CMD_LED3_ON, // No wait required
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DIGITAL_CMD_LED0_OFF, // No wait required
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DIGITAL_CMD_LED1_OFF, // No wait required
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DIGITAL_CMD_LED2_OFF, // No wait required
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DIGITAL_CMD_LED3_OFF, // No wait required
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DSHOT_CMD_MAX = 47
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};
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/*
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Name: DShot_Lib.cpp
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Created: 29.06.2021 19:41:44
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Author: derdoktor667
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Editor: http://www.visualmicro.com
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*/
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#include "DShot_Lib.h"
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DShotRMT::DShotRMT(gpio_num_t gpio, rmt_channel_t rmtChannel) {
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dshot_config.gpio_num = gpio;
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dshot_config.pin_num = uint8_t(gpio);
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dshot_config.rmt_channel = rmtChannel;
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dshot_config.mem_block_num = uint8_t(RMT_CHANNEL_MAX - uint8_t(rmtChannel));
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// ...create clean packet
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encode_dshot_to_rmt(DSHOT_NULL_PACKET);
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}
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DShotRMT::DShotRMT(uint8_t pin, uint8_t channel) {
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dshot_config.gpio_num = gpio_num_t(pin);
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dshot_config.pin_num = pin;
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dshot_config.rmt_channel = rmt_channel_t(channel);
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dshot_config.mem_block_num = (RMT_CHANNEL_MAX - channel);
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// ...create clean packet
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encode_dshot_to_rmt(DSHOT_NULL_PACKET);
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}
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DShotRMT::~DShotRMT() {
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rmt_driver_uninstall(dshot_config.rmt_channel);
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}
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DShotRMT::DShotRMT(DShotRMT const&) {
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// ...write me
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}
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DShotRMT& DShotRMT::operator=(DShotRMT const&) {
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// TODO: hier return-Anweisung eingeben
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}
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bool DShotRMT::begin(dshot_mode_t dshot_mode, bool is_bidirectional) {
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dshot_config.mode = dshot_mode;
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dshot_config.clk_div = DSHOT_CLK_DIVIDER;
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dshot_config.name_str = dshot_mode_name[dshot_mode];
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dshot_config.is_inverted = is_bidirectional;
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switch (dshot_config.mode) {
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case DSHOT150:
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dshot_config.ticks_per_bit = 64; // ...Bit Period Time 6.67 µs
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dshot_config.ticks_zero_high = 24; // ...zero time 2.50 µs
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dshot_config.ticks_one_high = 48; // ...one time 5.00 µs
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break;
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case DSHOT300:
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dshot_config.ticks_per_bit = 32; // ...Bit Period Time 3.33 µs
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dshot_config.ticks_zero_high = 12; // ...zero time 1.25 µs
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dshot_config.ticks_one_high = 24; // ...one time 2.50 µs
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break;
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case DSHOT600:
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dshot_config.ticks_per_bit = 16; // ...Bit Period Time 1.67 µs
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dshot_config.ticks_zero_high = 6; // ...zero time 0.625 µs
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dshot_config.ticks_one_high = 12; // ...one time 1.25 µs
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break;
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case DSHOT1200:
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dshot_config.ticks_per_bit = 8; // ...Bit Period Time 0.83 µs
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dshot_config.ticks_zero_high = 3; // ...zero time 0.313 µs
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dshot_config.ticks_one_high = 6; // ...one time 0.625 µs
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break;
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// ...because having a default is "good style"
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default:
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dshot_config.ticks_per_bit = 0; // ...Bit Period Time endless
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dshot_config.ticks_zero_high = 0; // ...no bits, no time
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dshot_config.ticks_one_high = 0; // ......no bits, no time
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break;
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}
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// ...calc low signal timing
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dshot_config.ticks_zero_low = (dshot_config.ticks_per_bit - dshot_config.ticks_zero_high);
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dshot_config.ticks_one_low = (dshot_config.ticks_per_bit - dshot_config.ticks_one_high);
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rmt_dshot_config.rmt_mode = RMT_MODE_TX;
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rmt_dshot_config.channel = dshot_config.rmt_channel;
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rmt_dshot_config.gpio_num = dshot_config.gpio_num;
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rmt_dshot_config.mem_block_num = dshot_config.mem_block_num;
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rmt_dshot_config.clk_div = dshot_config.clk_div;
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rmt_dshot_config.tx_config.loop_en = false;
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||||
rmt_dshot_config.tx_config.carrier_en = false;
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||||
rmt_dshot_config.tx_config.idle_level = RMT_IDLE_LEVEL_LOW;
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||||
rmt_dshot_config.tx_config.idle_output_en = true;
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// ...setup selected dshot mode
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rmt_config(&rmt_dshot_config);
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// ...essential step, return the result
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||||
auto init_failed = rmt_driver_install(rmt_dshot_config.channel, 0, 0);
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||||
// ...because esp_err_t returns more than true or false
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if (init_failed != 0) {
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return true;
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}
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else {
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return false;
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||||
}
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||||
}
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||||
void DShotRMT::send_dshot_value(uint16_t throttle_value, telemetric_request_t telemetric_request) {
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||||
dshot_packet_t dshot_rmt_packet = { };
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if (throttle_value < DSHOT_THROTTLE_MIN) {
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throttle_value = DSHOT_THROTTLE_MIN;
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}
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if (throttle_value > DSHOT_THROTTLE_MAX) {
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throttle_value = DSHOT_THROTTLE_MAX;
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}
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if (dshot_config.is_inverted) {
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// ...implement bidirectional mode
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}
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else {
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dshot_rmt_packet.throttle_value = throttle_value;
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dshot_rmt_packet.telemetric_request = telemetric_request;
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dshot_rmt_packet.checksum = this->calc_dshot_chksum(dshot_rmt_packet);
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output_rmt_data(dshot_rmt_packet);
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}
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}
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dshot_config_t* DShotRMT::get_dshot_info() {
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return &dshot_config;
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}
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uint8_t DShotRMT::get_dshot_clock_div() {
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return dshot_config.clk_div;
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}
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rmt_item32_t* DShotRMT::encode_dshot_to_rmt(uint16_t parsed_packet) {
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for (int i = 0; i < DSHOT_PAUSE_BIT; i++, parsed_packet <<= 1) {
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if (parsed_packet & 0b1000000000000000) {
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// set one
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dshot_rmt_item[i].duration0 = dshot_config.ticks_one_high;
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dshot_rmt_item[i].level0 = 1;
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dshot_rmt_item[i].duration1 = dshot_config.ticks_one_low;
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dshot_rmt_item[i].level1 = 0;
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}
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else {
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// set zero
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dshot_rmt_item[i].duration0 = dshot_config.ticks_zero_high;
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dshot_rmt_item[i].level0 = 1;
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dshot_rmt_item[i].duration1 = dshot_config.ticks_zero_low;
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dshot_rmt_item[i].level1 = 0;
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}
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}
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// ...end marker added to each frame
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dshot_rmt_item[DSHOT_PAUSE_BIT].duration0 = DSHOT_PAUSE_BIDIRECTIONAL;
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dshot_rmt_item[DSHOT_PAUSE_BIT].level0 = 0;
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dshot_rmt_item[DSHOT_PAUSE_BIT].duration1 = 0;
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dshot_rmt_item[DSHOT_PAUSE_BIT].level1 = 0;
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return dshot_rmt_item;
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}
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// ...just returns the checksum
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// DOES NOT APPEND CHECKSUM!!!
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uint16_t DShotRMT::calc_dshot_chksum(const dshot_packet_t& dshot_packet) {
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uint16_t packet = DSHOT_NULL_PACKET;
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uint16_t chksum = DSHOT_NULL_PACKET;
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if (dshot_config.is_inverted) {
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// ...implement bidirectional mode
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}
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else {
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packet = (dshot_packet.throttle_value << 1) | dshot_packet.telemetric_request;
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for (int i = 0; i < 3; i++) {
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chksum ^= packet; // xor data by nibbles
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packet >>= 4;
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}
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chksum &= 0b0000000000001111;
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}
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return chksum;
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}
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uint16_t DShotRMT::prepare_rmt_data(const dshot_packet_t& dshot_packet) {
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uint16_t prepared_to_encode = DSHOT_NULL_PACKET;
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uint16_t chksum = calc_dshot_chksum(dshot_packet);
|
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||||
prepared_to_encode = (dshot_packet.throttle_value << 1) | dshot_packet.telemetric_request;
|
||||
prepared_to_encode = (prepared_to_encode << 4) | chksum;
|
||||
|
||||
return prepared_to_encode;
|
||||
}
|
||||
|
||||
// ...finally output using ESP32 RMT
|
||||
void DShotRMT::output_rmt_data(const dshot_packet_t& dshot_packet) {
|
||||
encode_dshot_to_rmt(prepare_rmt_data(dshot_packet));
|
||||
|
||||
//
|
||||
rmt_write_items(rmt_dshot_config.channel, dshot_rmt_item, DSHOT_PACKET_LENGTH, false);
|
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}
|
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@ -0,0 +1,101 @@
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/*
|
||||
Name: DShot_Lib.h
|
||||
Created: 29.06.2021 19:41:44
|
||||
Author: derdoktor667
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
#include "BlheliCmdMap.h"
|
||||
#include <Arduino.h>
|
||||
|
||||
#include <driver/rmt.h>
|
||||
#include <string>
|
||||
|
||||
constexpr auto DSHOT_CLK_DIVIDER = 8; // ...slow down RMT clock to 10 ticks => 1ns
|
||||
constexpr auto DSHOT_PACKET_LENGTH = 17; // ...last pack is the pause
|
||||
|
||||
constexpr auto DSHOT_THROTTLE_MIN = 48;
|
||||
constexpr auto DSHOT_THROTTLE_MAX = 2047;
|
||||
constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000;
|
||||
|
||||
constexpr auto DSHOT_PAUSE = (DSHOT_PACKET_LENGTH * 21); // ...21bit is recommended
|
||||
constexpr auto DSHOT_PAUSE_BIDIRECTIONAL = DSHOT_PACKET_LENGTH;
|
||||
constexpr auto DSHOT_PAUSE_BIT = 16;
|
||||
|
||||
constexpr auto F_CPU_RMT = 80000000L;
|
||||
constexpr auto RMT_CYCLES_PER_SEC = (F_CPU_RMT / DSHOT_CLK_DIVIDER);
|
||||
constexpr auto RMT_CYCLES_PER_ESP_CYCLE = (F_CPU / RMT_CYCLES_PER_SEC);
|
||||
|
||||
typedef enum dshot_mode_e {
|
||||
DSHOT_OFF,
|
||||
DSHOT150,
|
||||
DSHOT300,
|
||||
DSHOT600,
|
||||
DSHOT1200
|
||||
} dshot_mode_t;
|
||||
|
||||
static const char* const dshot_mode_name[] = {
|
||||
"DSHOT_OFF",
|
||||
"DSHOT150",
|
||||
"DSHOT300",
|
||||
"DSHOT600",
|
||||
"DSHOT1200"
|
||||
};
|
||||
|
||||
typedef enum request_e {
|
||||
NO_TELEMETRIC,
|
||||
ENABLE_TELEMETRIC,
|
||||
} telemetric_request_t;
|
||||
|
||||
typedef struct dshot_packet_s {
|
||||
uint16_t throttle_value : 11;
|
||||
telemetric_request_t telemetric_request : 1;
|
||||
uint16_t checksum : 4;
|
||||
} dshot_packet_t;
|
||||
|
||||
typedef String dshot_name_t;
|
||||
|
||||
typedef struct dshot_config_s {
|
||||
dshot_mode_t mode;
|
||||
dshot_name_t name_str;
|
||||
bool is_inverted;
|
||||
gpio_num_t gpio_num;
|
||||
uint8_t pin_num;
|
||||
rmt_channel_t rmt_channel;
|
||||
uint8_t mem_block_num;
|
||||
uint16_t ticks_per_bit;
|
||||
uint8_t clk_div;
|
||||
uint16_t ticks_zero_high;
|
||||
uint16_t ticks_zero_low;
|
||||
uint16_t ticks_one_high;
|
||||
uint16_t ticks_one_low;
|
||||
} dshot_config_t;
|
||||
|
||||
class DShotRMT {
|
||||
public:
|
||||
DShotRMT(gpio_num_t gpio, rmt_channel_t rmtChannel);
|
||||
DShotRMT(uint8_t pin, uint8_t channel);
|
||||
~DShotRMT();
|
||||
DShotRMT(DShotRMT const&);
|
||||
DShotRMT& operator=(DShotRMT const&);
|
||||
|
||||
bool begin(dshot_mode_t dshot_mode = DSHOT_OFF, bool is_bidirectional = false);
|
||||
void send_dshot_value(uint16_t throttle_value, telemetric_request_t telemetric_request = NO_TELEMETRIC);
|
||||
|
||||
dshot_config_t* get_dshot_info();
|
||||
uint8_t get_dshot_clock_div();
|
||||
|
||||
private:
|
||||
rmt_item32_t dshot_rmt_item[DSHOT_PACKET_LENGTH] = { };
|
||||
dshot_config_t dshot_config = { };
|
||||
rmt_config_t rmt_dshot_config = { };
|
||||
|
||||
rmt_item32_t* encode_dshot_to_rmt(uint16_t parsed_packet);
|
||||
uint16_t calc_dshot_chksum(const dshot_packet_t& dshot_packet);
|
||||
uint16_t prepare_rmt_data(const dshot_packet_t& dshot_packet);
|
||||
|
||||
void output_rmt_data(const dshot_packet_t& dshot_packet);
|
||||
};
|
||||
|
||||
|
||||
Loading…
Reference in New Issue