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DShotRMT
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Wastl Kraus 2025-08-17 23:09:14 +02:00 committed by GitHub
parent ca51ba2ff1 2b01f76472
commit ef0778b7ee
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3 changed files with 85 additions and 78 deletions
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77
DShotRMT.cpp
View File

@ -18,7 +18,7 @@ constexpr dshot_timing_t DSHOT_TIMINGS[] = {
{16, 8, 6, 2, 3, 5} // DSHOT1200
};
// --- DShot Config ---
// --- DShot Config Constructor ---
DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional):
_gpio(gpio),
_mode(mode),
@ -32,21 +32,24 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional):
_packet{0},
_last_transmission_time(0)
{
// Double up frame time for bidirectional mode
// Calculates frame time and adds switch/pause time
_frame_timer_us = _timing_config.frame_length_us + DSHOT_SWITCH_TIME;
// Doubles up frame time for bidirectional mode
if (_is_bidirectional)
{
_frame_timer_us = (_timing_config.frame_length_us << 1) + DSHOT_SWITCH_TIME;
// DSHOT_SWITCH_TIME also needed two times
_frame_timer_us = (_frame_timer_us << 1);
}
// Calculate frame time including switch time
_frame_timer_us = _timing_config.frame_length_us + DSHOT_SWITCH_TIME;
}
// Easy Constructor
DShotRMT::DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional):
DShotRMT((gpio_num_t)pin_nr,
mode,
is_bidirectional)
DShotRMT::DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional):
DShotRMT(
(gpio_num_t)pin_nr,
mode,
is_bidirectional
)
{
// ...just to accept pin numbers and GPIO_NUMs
}
@ -54,24 +57,24 @@ DShotRMT::DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional):
// Setup and configure DShotRMT
bool DShotRMT::begin()
{
// Init TX Channel
// Inits TX Channel
if (!_initTXChannel())
{
Serial.println(DSHOT_MSG_01);
return DSHOT_ERROR;
}
// Init RX Channel
// Inits RX Channel
if (!_initRXChannel() && _is_bidirectional)
{
Serial.println(DSHOT_MSG_02);
return DSHOT_ERROR;
}
// Init DShot Decoder
// Inits DShot Decoder
if (!_initDShotEncoder())
{
Serial.println(DSHOT_MSG_03);
// Serial.println(DSHOT_MSG_03);
return DSHOT_ERROR;
}
@ -109,7 +112,7 @@ bool DShotRMT::sendCommand(uint16_t command)
// Check for valid command
if (command < DSHOT_CMD_MOTOR_STOP || command > DSHOT_CMD_MAX)
{
Serial.println(DSHOT_MSG_07);
Serial.println(DSHOT_MSG_06);
return DSHOT_ERROR;
}
@ -123,7 +126,7 @@ uint16_t DShotRMT::getERPM()
{
if (!_is_bidirectional || !_rmt_rx_channel)
{
Serial.println(DSHOT_MSG_08);
Serial.println(DSHOT_MSG_07);
return _last_erpm;
}
@ -131,7 +134,7 @@ uint16_t DShotRMT::getERPM()
rmt_symbol_word_t _rx_symbols[RX_BUFFER_SIZE];
if (!rmt_receive(_rmt_rx_channel, _rx_symbols, DSHOT_SYMBOLS_SIZE, &_receive_config))
{
Serial.println(DSHOT_MSG_09);
Serial.println(DSHOT_MSG_08);
return _last_erpm;
}
@ -152,10 +155,9 @@ uint32_t DShotRMT::getMotorRPM(uint8_t magnet_count)
return getERPM() / pole_pairs;
}
//
// --- RMT TX Config ---
bool DShotRMT::_initTXChannel()
{
// --- RMT TX Config ---
_tx_channel_config.gpio_num = _gpio;
_tx_channel_config.clk_src = DSHOT_CLOCK_SRC_DEFAULT;
_tx_channel_config.resolution_hz = DSHOT_RMT_RESOLUTION;
@ -171,46 +173,55 @@ bool DShotRMT::_initTXChannel()
// Creates and activates RMT TX Channel
if (rmt_new_tx_channel(&_tx_channel_config, &_rmt_tx_channel) != DSHOT_OK)
{
Serial.println(DSHOT_MSG_01);
return DSHOT_ERROR;
}
return (rmt_enable(_rmt_tx_channel) == 0);
return (rmt_enable(_rmt_tx_channel) == DSHOT_OK);
}
//
// --- RMT RX Config ---
bool DShotRMT::_initRXChannel()
{
// --- RMT RX Config ---
_rx_channel_config.gpio_num = _gpio;
_rx_channel_config.clk_src = DSHOT_CLOCK_SRC_DEFAULT;
_rx_channel_config.resolution_hz = DSHOT_RMT_RESOLUTION;
_rx_channel_config.mem_block_symbols = DSHOT_SYMBOLS_SIZE;
// TODO: need to figure out
// TODO: figure out ranges
_receive_config.signal_range_min_ns = 2;
_receive_config.signal_range_max_ns = 128;
// Creates and activates RMT TX Channel
if (rmt_new_rx_channel(&_rx_channel_config, &_rmt_rx_channel) != DSHOT_OK)
{
Serial.println(DSHOT_MSG_02);
return DSHOT_ERROR;
}
return (rmt_enable(_rmt_rx_channel) == 0);
return (rmt_enable(_rmt_rx_channel) == DSHOT_OK);
}
//
// --- RMT Encoder Config ---
bool DShotRMT::_initDShotEncoder()
{
// Creates a dummy encoder
// Encoder "config"
rmt_copy_encoder_config_t encoder_config = {};
return rmt_new_copy_encoder(&encoder_config, &_dshot_encoder) == 0;
// Creates a dummy encoder
if (rmt_new_copy_encoder(&encoder_config, &_dshot_encoder) != DSHOT_OK)
{
Serial.println(DSHOT_MSG_03);
return DSHOT_ERROR;
}
return DSHOT_OK;
}
// Use RMT to transmit a prepared DShot packet and returns it
// Uses RMT to transmit a prepared DShot packet and returns it
bool DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
{
// Excludes calculation from timing is more stable
// Excluding calculation from timing is more timing stable
rmt_symbol_word_t tx_symbols[DSHOT_BITS_PER_FRAME];
_encodeDShotFrame(packet, tx_symbols);
@ -257,15 +268,15 @@ dshot_packet_t DShotRMT::_buildDShotPacket(const uint16_t value)
// Creates DShot packet
packet.throttle_value = value;
packet.telemetric_request = 1; // needed to get the motor spinning
packet.telemetric_request = 1; // needed to get the motor spinning
packet.checksum = _calculateCRC(packet);
//
return packet;
}
// Encodes DShot packet into RMT buffer
bool IRAM_ATTR DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols)
// Encodes DShot packet into RMT buffer and places code into IRAM instead of flash
bool DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols)
{
// Parse actual packet into buffer
_current_packet = _parseDShotPacket(packet);
@ -330,7 +341,7 @@ uint16_t DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
// Timer triggered
bool DShotRMT::_timer_signal()
{
return (micros() - _last_transmission_time) >= _frame_timer_us;
return (micros() - _last_transmission_time >= _frame_timer_us);
}
// Updates timestamp

55
DShotRMT.h
View File

@ -15,20 +15,20 @@
#include <driver/rmt_rx.h>
// --- DShot Protocol Constants ---
static constexpr uint16_t DSHOT_THROTTLE_FAILSAFE = 0;
static constexpr uint16_t DSHOT_THROTTLE_MIN = 48;
static constexpr uint16_t DSHOT_THROTTLE_MAX = 2047;
static constexpr auto DSHOT_THROTTLE_FAILSAFE = 0;
static constexpr auto DSHOT_THROTTLE_MIN = 48;
static constexpr auto DSHOT_THROTTLE_MAX = 2047;
static constexpr uint8_t DSHOT_BITS_PER_FRAME = 16;
static constexpr uint8_t DSHOT_SWITCH_TIME = 300; // 30us
static constexpr uint16_t DSHOT_NULL_PACKET = 0b0000000000000000;
static constexpr auto DSHOT_BITS_PER_FRAME = 16;
static constexpr auto DSHOT_SWITCH_TIME = 30; // 30us
static constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000;
// --- RMT Config Constants ---
static constexpr rmt_clock_source_t DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
static constexpr uint32_t DSHOT_RMT_RESOLUTION = 10 * 1000 * 1000; // 10 MHz
static constexpr size_t TX_BUFFER_SIZE = DSHOT_BITS_PER_FRAME;
static constexpr size_t RX_BUFFER_SIZE = 64; // debug
static constexpr size_t DSHOT_SYMBOLS_SIZE = 64;
static constexpr auto DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
static constexpr auto DSHOT_RMT_RESOLUTION = 10 * 1000 * 1000; // 10 MHz
static constexpr auto TX_BUFFER_SIZE = DSHOT_BITS_PER_FRAME;
static constexpr auto RX_BUFFER_SIZE = 64; // debug
static constexpr auto DSHOT_SYMBOLS_SIZE = 64;
// --- DShot Mode Select ---
typedef enum dshot_mode_e
@ -59,6 +59,7 @@ typedef struct dshot_timing_s
uint16_t ticks_zero_low;
} dshot_timing_t;
// Some typedef magic for DShot timing config
extern const dshot_timing_t DSHOT_TIMINGS[];
// --- DShotRMT Class ---
@ -73,11 +74,11 @@ public:
bool begin();
// Sets the throttle value and transmits
bool setThrottle(uint16_t throttle); // deprecated
bool setThrottle(uint16_t throttle); // deprecated
bool sendThrottle(uint16_t throttle);
// Sends a DShot Command
bool sendDShotCommand(uint16_t command); // deprecated
bool sendDShotCommand(uint16_t command); // deprecated
bool sendCommand(uint16_t command);
// Gets eRPM from ESC telemetry
@ -86,10 +87,10 @@ public:
// Converts eRPM to motor RPM
uint32_t getMotorRPM(uint8_t magnet_count);
// Returns GPIO Pin
// Returns pin number
uint16_t getGPIO() const { return _gpio; }
// Returns "raw" Dshot packet sent by RMT
// Debug: returns "raw" Dshot packet sent by RMT
uint16_t getDShotPacket() const { return _current_packet; }
//
@ -120,7 +121,7 @@ private:
uint16_t _last_erpm;
uint16_t _current_packet;
dshot_packet_t _packet;
unsigned long _last_transmission_time;
uint32_t _last_transmission_time;
// ---Helpers ---
bool _initTXChannel();
@ -131,7 +132,7 @@ private:
uint16_t _calculateCRC(const dshot_packet_t &packet);
dshot_packet_t _buildDShotPacket(const uint16_t value);
uint16_t _parseDShotPacket(const dshot_packet_t &packet);
bool IRAM_ATTR _encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols);
bool _encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols);
uint16_t _decodeDShotFrame(const rmt_symbol_word_t *symbols);
// --- Simple Timer ---
@ -139,14 +140,14 @@ private:
bool _timer_reset();
// --- Error Handling ---
static constexpr bool DSHOT_OK = 0;
static constexpr bool DSHOT_ERROR = 1;
static constexpr char *DSHOT_MSG_01 = "Failed to initialize TX channel!";
static constexpr char *DSHOT_MSG_02 = "Failed to initialize RX channe!l";
static constexpr char *DSHOT_MSG_03 = "Failed to initialize encoder!";
static constexpr char *DSHOT_MSG_04 = "RX CRC Check failed!";
static constexpr char *DSHOT_MSG_06 = "Throttle value not in range (48 - 2047)!";
static constexpr char *DSHOT_MSG_07 = "Not a valid DShot Command (0 - 47)!";
static constexpr char *DSHOT_MSG_08 = "Bidirectional DShot support not enabled!";
static constexpr char *DSHOT_MSG_09 = "RX RMT module failure!";
static constexpr auto DSHOT_OK = 0;
static constexpr auto DSHOT_ERROR = 1;
static constexpr auto *DSHOT_MSG_01 = "Failed to initialize TX channel!";
static constexpr auto *DSHOT_MSG_02 = "Failed to initialize RX channe!l";
static constexpr auto *DSHOT_MSG_03 = "Failed to initialize DShot encoder!";
static constexpr auto *DSHOT_MSG_04 = "RX CRC Check failed!";
static constexpr auto *DSHOT_MSG_05 = "Throttle value not in range (48 - 2047)!";
static constexpr auto *DSHOT_MSG_06 = "Not a valid DShot Command (0 - 47)!";
static constexpr auto *DSHOT_MSG_07 = "Bidirectional DShot support not enabled!";
static constexpr auto *DSHOT_MSG_08 = "RX RMT module failure!";
};

31
examples/dshot300/dshot300.ino
View File

@ -13,8 +13,7 @@
static constexpr auto &USB_SERIAL = Serial0;
static constexpr auto USB_SERIAL_BAUD = 115200;
// Motor configuration
// Pin number or GPIO_PIN
// Motor configuration - Pin number or GPIO_PIN
// static constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_17;
static constexpr auto MOTOR01_PIN = 17;
@ -22,27 +21,24 @@ static constexpr auto MOTOR01_PIN = 17;
static constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
// BiDirectional DShot Support (default: false)
static constexpr bool IS_BIDIRECTIONAL = false;
static constexpr auto IS_BIDIRECTIONAL = false;
// Motor magnet count for RPM calculation
static constexpr auto MOTOR01_MAGNET_COUNT = 14;
//
// Create the motor instance
// Creates the motor instance
DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE, IS_BIDIRECTIONAL);
//
void setup()
{
// Start the USB Serial Port
// Starts the USB Serial Port
USB_SERIAL.begin(USB_SERIAL_BAUD);
// Initialize DShot Signal
// Initializes DShot Signal
motor01.begin();
// Arm ESC with minimum throttle
// motor01.sendThrottle(DSHOT_THROTTLE_MIN);
USB_SERIAL.println("***********************************");
USB_SERIAL.println(" === DShotRMT Demo started. === ");
USB_SERIAL.println("Enter a throttle value (48 – 2047):");
@ -51,18 +47,17 @@ void setup()
//
void loop()
{
// Safety first: start with DSHOT_MIN_THROTTLE
static auto throttle = DSHOT_THROTTLE_MIN;
// Takes "every" throttle value
if (USB_SERIAL.available() > NULL)
{
auto new_throttle = (USB_SERIAL.readStringUntil('\n').toInt());
throttle = (USB_SERIAL.readStringUntil('\n').toInt());
USB_SERIAL.println("*********************");
USB_SERIAL.print("Throttle set to: ");
USB_SERIAL.println(new_throttle);
//
throttle = new_throttle;
USB_SERIAL.println(throttle);
}
// Sends the value to the ESC
@ -75,12 +70,12 @@ void loop()
print_RMT_packet(2000);
}
// Prints RPM every ms
// Prints RPM every X_ms
void printRPMPeriodically(auto timer_ms)
{
if (IS_BIDIRECTIONAL)
{
static unsigned long last_print_time = 0;
static auto last_print_time = 0;
if (millis() - last_print_time >= timer_ms)
{
@ -97,14 +92,14 @@ void printRPMPeriodically(auto timer_ms)
// Prints "raw" packet every ms
void print_RMT_packet(auto timer_ms)
{
static unsigned long last_print_time = 0;
static auto last_print_time = 0;
if (millis() - last_print_time >= timer_ms)
{
auto packet = motor01.getDShotPacket();
// Print bit by bit
for (int i = 15; i >= 0; --i)
for (auto i = 15; i >= 0; --i)
{
if ((packet >> i) & 1)
{