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DShotRMT
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...fixed timing 

Non -biDirectional DShot was too fast - fixed
This commit is contained in:
Wastl Kraus 2025-07-18 11:13:43 +02:00
parent bde3decb8e
commit f0a95158ee
2 changed files with 7 additions and 51 deletions
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52
DShotRMT.cpp
View File

@ -71,10 +71,6 @@ void DShotRMT::setThrottle(uint16_t throttle)
// Safety first - double check input range and 11 bit "translation" // Safety first - double check input range and 11 bit "translation"
throttle = constrain(throttle, DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX) & 0b0000011111111111; throttle = constrain(throttle, DSHOT_THROTTLE_MIN, DSHOT_THROTTLE_MAX) & 0b0000011111111111;
// Has Throttle really changed?
// if (throttle == _lastThrottle)
// return;
_lastThrottle = throttle; _lastThrottle = throttle;
// Convert throttle value to DShot Paket Format // Convert throttle value to DShot Paket Format
@ -84,11 +80,11 @@ void DShotRMT::setThrottle(uint16_t throttle)
size_t count = 0; size_t count = 0;
encodeDShotTX(_tx_packet, _tx_symbols, count); encodeDShotTX(_tx_packet, _tx_symbols, count);
// // Send the packet
rmt_transmit(_rmt_tx_channel, _dshot_encoder, _tx_symbols, count * sizeof(rmt_symbol_word_t), &_transmit_config); rmt_transmit(_rmt_tx_channel, _dshot_encoder, _tx_symbols, count * sizeof(rmt_symbol_word_t), &_transmit_config);
if (_isBidirectional) // Take a break
esp_rom_delay_us(120); esp_rom_delay_us(120);
} }
// --- Get eRPM from ESC --- // --- Get eRPM from ESC ---
@ -107,46 +103,6 @@ uint32_t DShotRMT::getERPM()
// //
_last_erpm = decodeDShotRX(_rx_symbols, DSHOT_BITS_PER_FRAME); _last_erpm = decodeDShotRX(_rx_symbols, DSHOT_BITS_PER_FRAME);
return _last_erpm; return _last_erpm;
// uint16_t received_bits = 0;
// _received_packet = 0;
// // Decode raw RMT encoded bits
// for (int i = 0; i < DSHOT_BITS_PER_FRAME && i < rx_size; ++i)
// {
// rmt_symbol_word_t symbols = _rx_symbols[i];
// // Validate signal polarity
// if (symbols.level0 != 1 || symbols.level1 != 0)
// break;
// uint32_t total_ticks = symbols.duration0 + symbols.duration1;
// bool bit = (symbols.duration0 > symbols.duration1);
// _received_packet <<= 1;
// _received_packet |= bit ? 1 : 0;
// received_bits++;
// }
// // Extract data & checksum from packet
// uint16_t packet_data = _received_packet >> 4;
// uint8_t recalc_packet_crc = (packet_data ^ (packet_data >> 4) ^ (packet_data >> 8)) & 0x0F;
// uint8_t packet_crc = _received_packet & 0x0F;
// if (recalc_packet_crc != packet_crc)
// return _last_erpm;
// // Assume received value is DShot eRPM
// uint16_t throttle = packet_data >> 1;
// // Filter noise values
// if (throttle < DSHOT_THROTTLE_MIN || throttle > DSHOT_THROTTLE_MAX)
// return _last_erpm;
// // Approximate eRPM (ESC dependent, scale factor can be tuned)
// _last_erpm = throttle * 100;
// return _last_erpm;
} }
// Nothing to do here // Nothing to do here
@ -300,4 +256,4 @@ uint16_t DShotRMT::decodeDShotRX(const rmt_symbol_word_t *symbols, uint32_t coun
uint16_t raw = _temp >> 1; uint16_t raw = _temp >> 1;
return _last_erpm = raw; return _last_erpm = raw;
} }

6
DShotRMT.h
View File

@ -57,7 +57,7 @@ public:
// Initializes the RMT TX and RX channels // Initializes the RMT TX and RX channels
void begin(); void begin();
// Sets a new throttle value (48-2047) and sends it repeatedly // Sets a new throttle value (48-2047) and sends it
void setThrottle(uint16_t throttle); void setThrottle(uint16_t throttle);
// Receives and decodes the latest value from ESC, if available // Receives and decodes the latest value from ESC, if available
@ -87,10 +87,10 @@ private:
bool _isBidirectional; bool _isBidirectional;
// --- DShot Packets Container --- // --- DShot Packets Container ---
uint16_t _lastThrottle = DSHOT_FULL_PACKET; uint16_t _lastThrottle = DSHOT_NULL_PACKET;
uint16_t _received_packet = DSHOT_NULL_PACKET; uint16_t _received_packet = DSHOT_NULL_PACKET;
uint16_t _tx_packet = DSHOT_NULL_PACKET; uint16_t _tx_packet = DSHOT_NULL_PACKET;
uint16_t _packet_crc = 0; uint8_t _packet_crc = 0;
// --- RMT Channel --- // --- RMT Channel ---
rmt_channel_handle_t _rmt_rx_channel = nullptr; rmt_channel_handle_t _rmt_rx_channel = nullptr;