More pause between frames
Give the ESC more time for compatibility and more cosmetics. Added default config for VS Code
This commit is contained in:
Wastl Kraus
parent
6cd84f9685
commit
f0ff887473
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@ -1,12 +1,3 @@
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.vs
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.vscode
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.vscode/*
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!.vscode/settings.json
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!.vscode/tasks.json
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!.vscode/launch.json
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!.vscode/extensions.json
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!.vscode/*.code-snippets
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# Local History for Visual Studio Code
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# Local History for Visual Studio Code
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.history/
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.history/
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@ -0,0 +1,7 @@
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{
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"configuration": "JTAGAdapter=default,PSRAM=disabled,PartitionScheme=default,CPUFreq=240,FlashMode=qio,FlashFreq=80,FlashSize=4M,UploadSpeed=921600,LoopCore=1,EventsCore=1,DebugLevel=none,EraseFlash=all,ZigbeeMode=default",
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"board": "esp32:esp32:esp32",
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"sketch": "examples/dshot300/dshot300.ino",
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"output": "build",
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"port": "/dev/ttyUSB0"
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}
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@ -0,0 +1,899 @@
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{
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"version": 4,
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"configurations": [
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{
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"name": "ESP32",
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"compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++",
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"compilerArgs": [
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"-MMD",
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"-w",
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"-Werror=return-type",
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"-iprefix"
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],
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"intelliSenseMode": "linux-gcc-x64",
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"includePath": [
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"~/.arduino15/packages/esp32/hardware/esp32/3.3.0/cores/esp32/**",
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"~/.arduino15/packages/esp32/hardware/esp32/3.3.0/variants/esp32/**",
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"~/.arduino15/packages/esp32/hardware/esp32/3.3.0/libraries/**",
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"~/.arduino15/packages/esp32/hardware/esp32/3.3.0/**",
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"~/.arduino15/packages/esp32/tools/**",
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"~/.arduino15/packages/esp32/tools/esp-x32/2411/xtensa-esp-elf/include/c++/14.2.0/**",
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"~/.arduino15/packages/esp32/tools/esp-x32/2411/xtensa-esp-elf/include/c++/14.2.0/xtensa-esp-elf/esp32/**",
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"~/.arduino15/packages/esp32/tools/esp-x32/2411/xtensa-esp-elf/include/c++/14.2.0/backward/**",
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"~/.arduino15/packages/esp32/tools/esp-x32/2411/lib/gcc/xtensa-esp-elf/14.2.0/include/**",
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"~/.arduino15/packages/esp32/tools/esp-x32/2411/lib/gcc/xtensa-esp-elf/14.2.0/include-fixed/**",
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"~/.arduino15/packages/esp32/tools/esp-x32/2411/xtensa-esp-elf/include/**",
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"~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.5-b66b5448-v1/esp32/include/**",
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"~/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.5-b66b5448-v1/esp32/include/freertos/FreeRTOS-Kernel/portable/xtensa/include/freertos/",
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"~/Arduino/libraries/**",
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"${workspaceFolder}/**"
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],
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"forcedInclude": [
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"~/.arduino15/packages/esp32/hardware/esp32/3.3.0/cores/esp32/Arduino.h"
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],
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"cStandard": "c17",
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"cppStandard": "c++20",
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"defines": [
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"F_CPU=240000000L",
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"ESP32",
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"ARDUINO=10607",
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"ARDUINO_ESP32_DEV",
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"ARDUINO_ARCH_ESP32",
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"ARDUINO_BOARD=\"ESP32_DEV\"",
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"ARDUINO_VARIANT=\"esp32\"",
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"ARDUINO_PARTITION_default",
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"ARDUINO_HOST_OS=\"linux\"",
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"ARDUINO_FQBN=\"esp32:esp32:esp32:JTAGAdapter=default,PSRAM=disabled,PartitionScheme=default,CPUFreq=240,FlashMode=qio,FlashFreq=80,FlashSize=4M,UploadSpeed=921600,LoopCore=1,EventsCore=1,DebugLevel=none,EraseFlash=none,ZigbeeMode=default\"",
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"ESP32=ESP32",
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"CORE_DEBUG_LEVEL=0",
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"ARDUINO_RUNNING_CORE=1",
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"ARDUINO_EVENT_RUNNING_CORE=1",
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"ARDUINO_USB_CDC_ON_BOOT=0",
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"__DBL_MIN_EXP__=(-1021)",
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"__XCHAL_HAVE_FP=1",
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"__cpp_nontype_template_parameter_auto=201606L",
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"__UINT_LEAST16_MAX__=0xffff",
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"__ATOMIC_ACQUIRE=2",
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"__FLT_MIN__=1.1754943508222875e-38F",
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"__GCC_IEC_559_COMPLEX=0",
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"__XCHAL_HAVE_PREDICTED_BRANCHES=0",
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"__cpp_aggregate_nsdmi=201304L",
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"__UINT_LEAST8_TYPE__=unsigned char",
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"__INTMAX_C(c)=c ## LL",
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"__XCHAL_HAVE_ADDX=1",
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"__CHAR_BIT__=8",
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"__XCHAL_DCACHE_LINESIZE=16",
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"__XTENSA_MARCH_EARLIEST=260003",
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"__XCHAL_DCACHE_LINEWIDTH=4",
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"__UINT8_MAX__=0xff",
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"__WINT_MAX__=0xffffffffU",
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"__FLT32_MIN_EXP__=(-125)",
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"__cpp_static_assert=201411L",
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"__ORDER_LITTLE_ENDIAN__=1234",
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"__SIZE_MAX__=0xffffffffU",
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"__WCHAR_MAX__=0xffff",
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"__GCC_HAVE_SYNC_COMPARE_AND_SWAP_1=1",
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"__GCC_HAVE_SYNC_COMPARE_AND_SWAP_2=1",
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"__GCC_HAVE_SYNC_COMPARE_AND_SWAP_4=1",
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"__DBL_DENORM_MIN__=double(4.9406564584124654e-324L)",
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"__GCC_ATOMIC_CHAR_LOCK_FREE=2",
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"__GCC_IEC_559=0",
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"__FLT32X_DECIMAL_DIG__=17",
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"__FLT_EVAL_METHOD__=0",
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"__cpp_binary_literals=201304L",
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"__FLT64_DECIMAL_DIG__=17",
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"__cpp_noexcept_function_type=201510L",
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"__GCC_ATOMIC_CHAR32_T_LOCK_FREE=2",
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"__cpp_variadic_templates=200704L",
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"__UINT_FAST64_MAX__=0xffffffffffffffffULL",
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"__SIG_ATOMIC_TYPE__=int",
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"__DBL_MIN_10_EXP__=(-307)",
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"__FINITE_MATH_ONLY__=0",
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"__cpp_variable_templates=201304L",
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"__XCHAL_HAVE_L32R=1",
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"__FLT32X_MAX_EXP__=1024",
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"__GNUC_PATCHLEVEL__=0",
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"__FLT32_HAS_DENORM__=1",
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"__UINT_FAST8_MAX__=0xffffffffU",
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"__cpp_rvalue_reference=200610L",
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"__XCHAL_HAVE_LOOPS=1",
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"__cpp_nested_namespace_definitions=201411L",
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"__XCHAL_DEBUGLEVEL=6",
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"__INT8_C(c)=c",
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"__XCHAL_HAVE_DFP_RECIP=0",
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"__INT_LEAST8_WIDTH__=8",
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"__cpp_variadic_using=201611L",
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"__UINT_LEAST64_MAX__=0xffffffffffffffffULL",
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"__INT_LEAST8_MAX__=0x7f",
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"__cpp_attributes=200809L",
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"__cpp_capture_star_this=201603L",
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"__SHRT_MAX__=0x7fff",
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"__LDBL_MAX__=1.7976931348623157e+308L",
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"__cpp_if_constexpr=201606L",
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"__XCHAL_ICACHE_LINESIZE=16",
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"__LDBL_IS_IEC_60559__=1",
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"__UINT_LEAST8_MAX__=0xff",
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"__GCC_ATOMIC_BOOL_LOCK_FREE=2",
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"__UINTMAX_TYPE__=long long unsigned int",
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"__cpp_nsdmi=200809L",
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"__FLT_EVAL_METHOD_TS_18661_3__=0",
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"__UINT32_MAX__=0xffffffffUL",
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"__GXX_EXPERIMENTAL_CXX0X__=1",
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"__LDBL_MAX_EXP__=1024",
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"__WINT_MIN__=0U",
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"__FLT32X_IS_IEC_60559__=1",
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"__XCHAL_HAVE_THREADPTR=1",
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"__INT_LEAST16_WIDTH__=16",
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"__SCHAR_MAX__=0x7f",
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"__WCHAR_MIN__=0",
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"__XCHAL_ICACHE_LINEWIDTH=4",
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"__INT64_C(c)=c ## LL",
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"__GCC_ATOMIC_POINTER_LOCK_FREE=2",
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"__ATOMIC_SEQ_CST=5",
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"__SIZEOF_INT__=4",
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"__FLT32X_MANT_DIG__=53",
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"__GCC_ATOMIC_CHAR16_T_LOCK_FREE=2",
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"__cpp_aligned_new=201606L",
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"__XCHAL_HAVE_FP_RECIP=1",
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"__FLT32_MAX_10_EXP__=38",
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"__STDC_HOSTED__=1",
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"__XCHAL_HAVE_MUL32=1",
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"__XTENSA_EL__=1",
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"__cpp_decltype_auto=201304L",
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"__DBL_DIG__=15",
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"__XCHAL_HAVE_MUL16=1",
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"__FLT_EPSILON__=1.1920928955078125e-7F",
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"__GXX_WEAK__=1",
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"__SHRT_WIDTH__=16",
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"__FLT32_IS_IEC_60559__=1",
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"__LDBL_MIN__=2.2250738585072014e-308L",
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"__DBL_IS_IEC_60559__=1",
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"__cpp_threadsafe_static_init=200806L",
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"__cpp_enumerator_attributes=201411L",
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"__XCHAL_HAVE_MMU=0",
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"__FLT32X_HAS_INFINITY__=1",
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"__INT32_MAX__=0x7fffffffL",
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"__XCHAL_HAVE_DIV32=1",
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"__INT_WIDTH__=32",
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"__XTENSA_MARCH_LATEST=260003",
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"__DECIMAL_DIG__=17",
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"__FLT64_EPSILON__=2.2204460492503131e-16F64",
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"__INT16_MAX__=0x7fff",
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"__FLT64_MIN_EXP__=(-1021)",
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"__XCHAL_DCACHE_SIZE=0",
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"__LDBL_HAS_QUIET_NAN__=1",
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"__cpp_return_type_deduction=201304L",
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"__XCHAL_HAVE_BOOLEANS=1",
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"__FLT64_MANT_DIG__=53",
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"__XTHAL_ABI_WINDOWED=0",
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"__GNUC__=14",
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"__GXX_RTTI=1",
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"__FLT_HAS_DENORM__=1",
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"__SIZEOF_LONG_DOUBLE__=8",
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"__XCHAL_HAVE_CONST16=0",
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"__BIGGEST_ALIGNMENT__=16",
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"__STDC_UTF_16__=1",
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"__FLT64_MAX_10_EXP__=308",
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"__cpp_delegating_constructors=200604L",
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"__DBL_MAX__=double(1.7976931348623157e+308L)",
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"__cpp_raw_strings=200710L",
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"__INT_FAST32_MAX__=0x7fffffff",
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"__DBL_HAS_INFINITY__=1",
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"__cpp_deduction_guides=201703L",
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"__HAVE_SPECULATION_SAFE_VALUE=1",
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"__cpp_fold_expressions=201603L",
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"__INTPTR_WIDTH__=32",
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"__UINT_LEAST32_MAX__=0xffffffffUL",
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"__FLT32X_HAS_DENORM__=1",
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"__INT_FAST16_TYPE__=int",
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"__XCHAL_HAVE_RELEASE_SYNC=1",
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"__LDBL_HAS_DENORM__=1",
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"__cplusplus=201703L",
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"__cpp_ref_qualifiers=200710L",
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"__INT_LEAST32_MAX__=0x7fffffffL",
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"__DEPRECATED=1",
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"__cpp_rvalue_references=200610L",
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"__DBL_MAX_EXP__=1024",
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"__WCHAR_WIDTH__=16",
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"__FLT32_MAX__=3.4028234663852886e+38F32",
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"__GCC_ATOMIC_LONG_LOCK_FREE=2",
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"__PTRDIFF_MAX__=0x7fffffff",
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"__FLT32_HAS_QUIET_NAN__=1",
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"__GNUG__=14",
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"__LONG_LONG_MAX__=0x7fffffffffffffffLL",
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"__SIZEOF_SIZE_T__=4",
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"__SIZEOF_WINT_T__=4",
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"__FLT32X_DIG__=15",
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"__LONG_LONG_WIDTH__=64",
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"__cpp_initializer_lists=200806L",
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"__FLT32_MAX_EXP__=128",
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"__XCHAL_HAVE_MINMAX=1",
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"__cpp_hex_float=201603L",
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"__XCHAL_NUM_IBREAK=2",
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"__GXX_ABI_VERSION=1019",
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"__FLT_MIN_EXP__=(-125)",
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"__cpp_lambdas=200907L",
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"__INT_FAST64_TYPE__=long long int",
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"__FP_FAST_FMAF=1",
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"__FLT64_DENORM_MIN__=4.9406564584124654e-324F64",
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"__DBL_MIN__=double(2.2250738585072014e-308L)",
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"__SIZEOF_POINTER__=4",
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"__DBL_HAS_QUIET_NAN__=1",
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"__FLT32X_EPSILON__=2.2204460492503131e-16F32x",
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"__XSHAL_HAVE_TEXT_SECTION_LITERALS=1",
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"__FLT64_MIN_10_EXP__=(-307)",
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"__REGISTER_PREFIX__",
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"__UINT16_MAX__=0xffff",
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"__XSHAL_USE_ABSOLUTE_LITERALS=0",
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"__LDBL_HAS_INFINITY__=1",
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"__FLT32_MIN__=1.1754943508222875e-38F32",
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"__UINT8_TYPE__=unsigned char",
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"__FLT_DIG__=6",
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"__NO_INLINE__=1",
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"__DEC_EVAL_METHOD__=2",
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"__FLT_MANT_DIG__=24",
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"__LDBL_DECIMAL_DIG__=17",
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"__VERSION__=\"14.2.0\"",
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"__UINT64_C(c)=c ## ULL",
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"__XCHAL_NUM_AREGS=64",
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"__cpp_unicode_characters=201411L",
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"__XCHAL_HAVE_XEA3=0",
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"__GCC_ATOMIC_INT_LOCK_FREE=2",
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"__XCHAL_HAVE_DENSITY=1",
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"__FLT32_MANT_DIG__=24",
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"__FLOAT_WORD_ORDER__=__ORDER_LITTLE_ENDIAN__",
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"__XCHAL_HAVE_CLAMPS=0",
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"__XCHAL_HAVE_DFP_RSQRT=0",
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"__cpp_aggregate_bases=201603L",
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"__XCHAL_HAVE_NSA=1",
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"__XCHAL_HAVE_WINDOWED=1",
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"__SCHAR_WIDTH__=8",
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"__INT32_C(c)=c ## L",
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"__ORDER_PDP_ENDIAN__=3412",
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"__INT_FAST32_TYPE__=int",
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"__UINT_LEAST16_TYPE__=short unsigned int",
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"__DBL_HAS_DENORM__=1",
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"__XCHAL_HAVE_DEBUG=1",
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"__cpp_rtti=199711L",
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"__SIZE_TYPE__=unsigned int",
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"__UINT64_MAX__=0xffffffffffffffffULL",
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"__FLT_IS_IEC_60559__=1",
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"__GNUC_WIDE_EXECUTION_CHARSET_NAME=\"UTF-16LE\"",
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"__INT8_TYPE__=signed char",
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"__cpp_digit_separators=201309L",
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"__ELF__=1",
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"__XSHAL_ABI=0",
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"__xtensa__=1",
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"__FLT_RADIX__=2",
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"__INT_LEAST16_TYPE__=short int",
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"__LDBL_EPSILON__=2.2204460492503131e-16L",
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"__UINTMAX_C(c)=c ## ULL",
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||||||
|
"__FLT32X_MIN__=2.2250738585072014e-308F32x",
|
||||||
|
"__XCHAL_HAVE_DFP_SQRT=0",
|
||||||
|
"__SIG_ATOMIC_MAX__=0x7fffffff",
|
||||||
|
"__XCHAL_HAVE_MAC16=1",
|
||||||
|
"__GCC_ATOMIC_WCHAR_T_LOCK_FREE=2",
|
||||||
|
"__USER_LABEL_PREFIX__",
|
||||||
|
"__SIZEOF_PTRDIFF_T__=4",
|
||||||
|
"__XCHAL_MMU_MIN_PTE_PAGE_SIZE=1",
|
||||||
|
"__XCHAL_DCACHE_IS_WRITEBACK=0",
|
||||||
|
"__SIZEOF_LONG__=4",
|
||||||
|
"__LDBL_DIG__=15",
|
||||||
|
"__FLT64_IS_IEC_60559__=1",
|
||||||
|
"__XCHAL_MAX_INSTRUCTION_SIZE=3",
|
||||||
|
"__FLT32X_MIN_EXP__=(-1021)",
|
||||||
|
"__INT_FAST16_MAX__=0x7fffffff",
|
||||||
|
"__GCC_CONSTRUCTIVE_SIZE=32",
|
||||||
|
"__FLT64_DIG__=15",
|
||||||
|
"__UINT_FAST32_MAX__=0xffffffffU",
|
||||||
|
"__UINT_LEAST64_TYPE__=long long unsigned int",
|
||||||
|
"__FLT_HAS_QUIET_NAN__=1",
|
||||||
|
"__FLT_MAX_10_EXP__=38",
|
||||||
|
"__FLT_HAS_INFINITY__=1",
|
||||||
|
"__GNUC_EXECUTION_CHARSET_NAME=\"UTF-8\"",
|
||||||
|
"__CHAR_UNSIGNED__=1",
|
||||||
|
"__cpp_unicode_literals=200710L",
|
||||||
|
"__UINT_FAST16_TYPE__=unsigned int",
|
||||||
|
"__INT_FAST32_WIDTH__=32",
|
||||||
|
"__CHAR16_TYPE__=short unsigned int",
|
||||||
|
"__PRAGMA_REDEFINE_EXTNAME=1",
|
||||||
|
"__SIZE_WIDTH__=32",
|
||||||
|
"__INT_LEAST16_MAX__=0x7fff",
|
||||||
|
"__INT64_MAX__=0x7fffffffffffffffLL",
|
||||||
|
"__FLT32_DENORM_MIN__=1.4012984643248171e-45F32",
|
||||||
|
"__SIG_ATOMIC_WIDTH__=32",
|
||||||
|
"__INT_LEAST64_TYPE__=long long int",
|
||||||
|
"__INT16_TYPE__=short int",
|
||||||
|
"__INT_LEAST8_TYPE__=signed char",
|
||||||
|
"__cpp_structured_bindings=201606L",
|
||||||
|
"__INT_FAST8_MAX__=0x7fffffff",
|
||||||
|
"__INTPTR_MAX__=0x7fffffff",
|
||||||
|
"__cpp_sized_deallocation=201309L",
|
||||||
|
"__cpp_guaranteed_copy_elision=201606L",
|
||||||
|
"__FLT64_HAS_QUIET_NAN__=1",
|
||||||
|
"__FLT32_MIN_10_EXP__=(-37)",
|
||||||
|
"__EXCEPTIONS=1",
|
||||||
|
"__UINT16_C(c)=c",
|
||||||
|
"__XCHAL_M_STAGE=3",
|
||||||
|
"__PTRDIFF_WIDTH__=32",
|
||||||
|
"__LDBL_MANT_DIG__=53",
|
||||||
|
"__cpp_range_based_for=201603L",
|
||||||
|
"__FLT64_HAS_INFINITY__=1",
|
||||||
|
"__STDCPP_DEFAULT_NEW_ALIGNMENT__=8",
|
||||||
|
"__SIG_ATOMIC_MIN__=(-__SIG_ATOMIC_MAX__ - 1)",
|
||||||
|
"__XCHAL_ICACHE_SIZE=0",
|
||||||
|
"__cpp_nontype_template_args=201411L",
|
||||||
|
"__INTPTR_TYPE__=int",
|
||||||
|
"__UINT16_TYPE__=short unsigned int",
|
||||||
|
"__WCHAR_TYPE__=short unsigned int",
|
||||||
|
"__XCHAL_HAVE_DEPBITS=0",
|
||||||
|
"__SIZEOF_FLOAT__=4",
|
||||||
|
"__UINTPTR_MAX__=0xffffffffU",
|
||||||
|
"__INT_FAST64_WIDTH__=64",
|
||||||
|
"__cpp_decltype=200707L",
|
||||||
|
"__FLT32_DECIMAL_DIG__=9",
|
||||||
|
"__INT_FAST64_MAX__=0x7fffffffffffffffLL",
|
||||||
|
"__GCC_ATOMIC_TEST_AND_SET_TRUEVAL=1",
|
||||||
|
"__FLT_NORM_MAX__=3.4028234663852886e+38F",
|
||||||
|
"__XCHAL_HAVE_DFP=0",
|
||||||
|
"__FLT32_HAS_INFINITY__=1",
|
||||||
|
"__UINT_FAST64_TYPE__=long long unsigned int",
|
||||||
|
"__cpp_inline_variables=201606L",
|
||||||
|
"__INT_MAX__=0x7fffffff",
|
||||||
|
"__XCHAL_HAVE_EXCLUSIVE=0",
|
||||||
|
"__STDCPP_THREADS__=1",
|
||||||
|
"__INT64_TYPE__=long long int",
|
||||||
|
"__XCHAL_HAVE_DFP_DIV=0",
|
||||||
|
"__FLT_MAX_EXP__=128",
|
||||||
|
"__XCHAL_INST_FETCH_WIDTH=4",
|
||||||
|
"__DBL_MANT_DIG__=53",
|
||||||
|
"__cpp_inheriting_constructors=201511L",
|
||||||
|
"__INT_LEAST64_MAX__=0x7fffffffffffffffLL",
|
||||||
|
"__FP_FAST_FMAF32=1",
|
||||||
|
"__WINT_TYPE__=unsigned int",
|
||||||
|
"__UINT_LEAST32_TYPE__=long unsigned int",
|
||||||
|
"__SIZEOF_SHORT__=2",
|
||||||
|
"__FLT32_NORM_MAX__=3.4028234663852886e+38F32",
|
||||||
|
"__LDBL_MIN_EXP__=(-1021)",
|
||||||
|
"__XCHAL_HAVE_S32C1I=1",
|
||||||
|
"__FLT64_MAX__=1.7976931348623157e+308F64",
|
||||||
|
"__WINT_WIDTH__=32",
|
||||||
|
"__cpp_template_auto=201606L",
|
||||||
|
"__INT_LEAST64_WIDTH__=64",
|
||||||
|
"__FLT32X_MAX_10_EXP__=308",
|
||||||
|
"__cpp_namespace_attributes=201411L",
|
||||||
|
"__WCHAR_UNSIGNED__=1",
|
||||||
|
"__LDBL_MAX_10_EXP__=308",
|
||||||
|
"__ATOMIC_RELAXED=0",
|
||||||
|
"__DBL_EPSILON__=double(2.2204460492503131e-16L)",
|
||||||
|
"__XCHAL_HAVE_SEXT=1",
|
||||||
|
"__INT_LEAST32_TYPE__=long int",
|
||||||
|
"__XTENSA_WINDOWED_ABI__=1",
|
||||||
|
"__UINT8_C(c)=c",
|
||||||
|
"__FLT64_MAX_EXP__=1024",
|
||||||
|
"__SIZEOF_WCHAR_T__=2",
|
||||||
|
"__XCHAL_HAVE_FP_POSTINC=1",
|
||||||
|
"__FLT64_NORM_MAX__=1.7976931348623157e+308F64",
|
||||||
|
"__INTMAX_MAX__=0x7fffffffffffffffLL",
|
||||||
|
"__INT_FAST8_TYPE__=int",
|
||||||
|
"__XCHAL_HAVE_MUL32_HIGH=1",
|
||||||
|
"__GNUC_STDC_INLINE__=1",
|
||||||
|
"__FLT64_HAS_DENORM__=1",
|
||||||
|
"__FLT32_EPSILON__=1.1920928955078125e-7F32",
|
||||||
|
"__DBL_DECIMAL_DIG__=17",
|
||||||
|
"__STDC_UTF_32__=1",
|
||||||
|
"__XCHAL_HAVE_FP_DIV=1",
|
||||||
|
"__INT_FAST8_WIDTH__=32",
|
||||||
|
"__FLT32X_MAX__=1.7976931348623157e+308F32x",
|
||||||
|
"__DBL_NORM_MAX__=double(1.7976931348623157e+308L)",
|
||||||
|
"__BYTE_ORDER__=__ORDER_LITTLE_ENDIAN__",
|
||||||
|
"__GCC_DESTRUCTIVE_SIZE=32",
|
||||||
|
"__XTENSA__=1",
|
||||||
|
"__INTMAX_WIDTH__=64",
|
||||||
|
"__ORDER_BIG_ENDIAN__=4321",
|
||||||
|
"__XTHAL_ABI_CALL0=1",
|
||||||
|
"__cpp_runtime_arrays=198712L",
|
||||||
|
"__FLT32_DIG__=6",
|
||||||
|
"__UINT64_TYPE__=long long unsigned int",
|
||||||
|
"__UINT32_C(c)=c ## UL",
|
||||||
|
"__cpp_alias_templates=200704L",
|
||||||
|
"__FLT_DENORM_MIN__=1.4012984643248171e-45F",
|
||||||
|
"__INT8_MAX__=0x7f",
|
||||||
|
"__LONG_WIDTH__=32",
|
||||||
|
"__UINT_FAST32_TYPE__=unsigned int",
|
||||||
|
"__FLT32X_NORM_MAX__=1.7976931348623157e+308F32x",
|
||||||
|
"__CHAR32_TYPE__=long unsigned int",
|
||||||
|
"__FLT_MAX__=3.4028234663852886e+38F",
|
||||||
|
"__cpp_constexpr=201603L",
|
||||||
|
"__XCHAL_HAVE_FP_RSQRT=1",
|
||||||
|
"__INT32_TYPE__=long int",
|
||||||
|
"__SIZEOF_DOUBLE__=8",
|
||||||
|
"__cpp_exceptions=199711L",
|
||||||
|
"__FLT_MIN_10_EXP__=(-37)",
|
||||||
|
"__FLT64_MIN__=2.2250738585072014e-308F64",
|
||||||
|
"__INT_LEAST32_WIDTH__=32",
|
||||||
|
"__INTMAX_TYPE__=long long int",
|
||||||
|
"__XCHAL_HAVE_ABS=1",
|
||||||
|
"__FLT32X_HAS_QUIET_NAN__=1",
|
||||||
|
"__ATOMIC_CONSUME=1",
|
||||||
|
"__XCHAL_NUM_DBREAK=2",
|
||||||
|
"__XCHAL_HAVE_WIDE_BRANCHES=0",
|
||||||
|
"__GNUC_MINOR__=2",
|
||||||
|
"__INT_FAST16_WIDTH__=32",
|
||||||
|
"__UINTMAX_MAX__=0xffffffffffffffffULL",
|
||||||
|
"__FLT32X_DENORM_MIN__=4.9406564584124654e-324F32x",
|
||||||
|
"__cpp_template_template_args=201611L",
|
||||||
|
"__DBL_MAX_10_EXP__=308",
|
||||||
|
"__LDBL_DENORM_MIN__=4.9406564584124654e-324L",
|
||||||
|
"__INT16_C(c)=c",
|
||||||
|
"__STDC__=1",
|
||||||
|
"__PTRDIFF_TYPE__=int",
|
||||||
|
"__LONG_MAX__=0x7fffffffL",
|
||||||
|
"__XCHAL_HAVE_FP_SQRT=1",
|
||||||
|
"__UINT32_TYPE__=long unsigned int",
|
||||||
|
"__FLT32X_MIN_10_EXP__=(-307)",
|
||||||
|
"__UINTPTR_TYPE__=unsigned int",
|
||||||
|
"__LDBL_MIN_10_EXP__=(-307)",
|
||||||
|
"__cpp_generic_lambdas=201304L",
|
||||||
|
"__SIZEOF_LONG_LONG__=8",
|
||||||
|
"__cpp_USER_defined_literals=200809L",
|
||||||
|
"__GCC_ATOMIC_LLONG_LOCK_FREE=1",
|
||||||
|
"__FLT_DECIMAL_DIG__=9",
|
||||||
|
"__UINT_FAST16_MAX__=0xffffffffU",
|
||||||
|
"__LDBL_NORM_MAX__=1.7976931348623157e+308L",
|
||||||
|
"__GCC_ATOMIC_SHORT_LOCK_FREE=2",
|
||||||
|
"__XCHAL_HAVE_BE=0",
|
||||||
|
"__UINT_FAST8_TYPE__=unsigned int",
|
||||||
|
"__cpp_init_captures=201304L",
|
||||||
|
"__ATOMIC_ACQ_REL=4",
|
||||||
|
"__ATOMIC_RELEASE=3",
|
||||||
|
"RMT_CLK_SRC_DEFAULT = SOC_MOD_CLK_APB",
|
||||||
|
"USBCON"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"name": "Arduino",
|
||||||
|
"compilerPath": "/home/derdoktor667/.arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++",
|
||||||
|
"compilerArgs": [
|
||||||
|
"-MMD",
|
||||||
|
"-w",
|
||||||
|
"-Werror=return-type",
|
||||||
|
"-iprefix"
|
||||||
|
],
|
||||||
|
"intelliSenseMode": "gcc-x64",
|
||||||
|
"includePath": [
|
||||||
|
"/home/derdoktor667/Github/DShotRMT/examples/dshot300",
|
||||||
|
"/home/derdoktor667/.arduino15/packages/esp32/tools/esp32-arduino-libs/idf-release_v5.5-b66b5448-v1/esp32/qio_qspi/include",
|
||||||
|
"/home/derdoktor667/.arduino15/packages/esp32/hardware/esp32/3.3.0/cores/esp32",
|
||||||
|
"/home/derdoktor667/.arduino15/packages/esp32/hardware/esp32/3.3.0/variants/esp32",
|
||||||
|
"/home/derdoktor667/Arduino/libraries/DShotRMT/src",
|
||||||
|
"/home/derdoktor667/.arduino15/packages/esp32/tools/esp-x32/2411/xtensa-esp-elf/include/c++/14.2.0",
|
||||||
|
"/home/derdoktor667/.arduino15/packages/esp32/tools/esp-x32/2411/xtensa-esp-elf/include/c++/14.2.0/xtensa-esp-elf/esp32",
|
||||||
|
"/home/derdoktor667/.arduino15/packages/esp32/tools/esp-x32/2411/xtensa-esp-elf/include/c++/14.2.0/backward",
|
||||||
|
"/home/derdoktor667/.arduino15/packages/esp32/tools/esp-x32/2411/lib/gcc/xtensa-esp-elf/14.2.0/include",
|
||||||
|
"/home/derdoktor667/.arduino15/packages/esp32/tools/esp-x32/2411/lib/gcc/xtensa-esp-elf/14.2.0/include-fixed",
|
||||||
|
"/home/derdoktor667/.arduino15/packages/esp32/tools/esp-x32/2411/xtensa-esp-elf/include"
|
||||||
|
],
|
||||||
|
"forcedInclude": [
|
||||||
|
"/home/derdoktor667/.arduino15/packages/esp32/hardware/esp32/3.3.0/cores/esp32/Arduino.h"
|
||||||
|
],
|
||||||
|
"cStandard": "c11",
|
||||||
|
"cppStandard": "c++11",
|
||||||
|
"defines": [
|
||||||
|
"F_CPU=240000000L",
|
||||||
|
"ARDUINO=10607",
|
||||||
|
"ARDUINO_ESP32_DEV",
|
||||||
|
"ARDUINO_ARCH_ESP32",
|
||||||
|
"ARDUINO_BOARD=\"ESP32_DEV\"",
|
||||||
|
"ARDUINO_VARIANT=\"esp32\"",
|
||||||
|
"ARDUINO_PARTITION_default",
|
||||||
|
"ARDUINO_HOST_OS=\"linux\"",
|
||||||
|
"ARDUINO_FQBN=\"esp32:esp32:esp32:JTAGAdapter=default,PSRAM=disabled,PartitionScheme=default,CPUFreq=240,FlashMode=qio,FlashFreq=80,FlashSize=4M,UploadSpeed=921600,LoopCore=1,EventsCore=1,DebugLevel=none,EraseFlash=all,ZigbeeMode=default\"",
|
||||||
|
"ESP32=ESP32",
|
||||||
|
"CORE_DEBUG_LEVEL=0",
|
||||||
|
"ARDUINO_RUNNING_CORE=1",
|
||||||
|
"ARDUINO_EVENT_RUNNING_CORE=1",
|
||||||
|
"ARDUINO_USB_CDC_ON_BOOT=0",
|
||||||
|
"__DBL_MIN_EXP__=(-1021)",
|
||||||
|
"__XCHAL_HAVE_FP=1",
|
||||||
|
"__cpp_nontype_template_parameter_auto=201606L",
|
||||||
|
"__UINT_LEAST16_MAX__=0xffff",
|
||||||
|
"__ATOMIC_ACQUIRE=2",
|
||||||
|
"__FLT_MIN__=1.1754943508222875e-38F",
|
||||||
|
"__GCC_IEC_559_COMPLEX=0",
|
||||||
|
"__XCHAL_HAVE_PREDICTED_BRANCHES=0",
|
||||||
|
"__cpp_aggregate_nsdmi=201304L",
|
||||||
|
"__UINT_LEAST8_TYPE__=unsigned char",
|
||||||
|
"__INTMAX_C(c)=c ## LL",
|
||||||
|
"__XCHAL_HAVE_ADDX=1",
|
||||||
|
"__CHAR_BIT__=8",
|
||||||
|
"__XCHAL_DCACHE_LINESIZE=16",
|
||||||
|
"__XTENSA_MARCH_EARLIEST=260003",
|
||||||
|
"__XCHAL_DCACHE_LINEWIDTH=4",
|
||||||
|
"__UINT8_MAX__=0xff",
|
||||||
|
"__WINT_MAX__=0xffffffffU",
|
||||||
|
"__FLT32_MIN_EXP__=(-125)",
|
||||||
|
"__cpp_static_assert=201411L",
|
||||||
|
"__ORDER_LITTLE_ENDIAN__=1234",
|
||||||
|
"__SIZE_MAX__=0xffffffffU",
|
||||||
|
"__WCHAR_MAX__=0xffff",
|
||||||
|
"__GCC_HAVE_SYNC_COMPARE_AND_SWAP_1=1",
|
||||||
|
"__GCC_HAVE_SYNC_COMPARE_AND_SWAP_2=1",
|
||||||
|
"__GCC_HAVE_SYNC_COMPARE_AND_SWAP_4=1",
|
||||||
|
"__DBL_DENORM_MIN__=double(4.9406564584124654e-324L)",
|
||||||
|
"__GCC_ATOMIC_CHAR_LOCK_FREE=2",
|
||||||
|
"__GCC_IEC_559=0",
|
||||||
|
"__FLT32X_DECIMAL_DIG__=17",
|
||||||
|
"__FLT_EVAL_METHOD__=0",
|
||||||
|
"__cpp_binary_literals=201304L",
|
||||||
|
"__FLT64_DECIMAL_DIG__=17",
|
||||||
|
"__cpp_noexcept_function_type=201510L",
|
||||||
|
"__GCC_ATOMIC_CHAR32_T_LOCK_FREE=2",
|
||||||
|
"__cpp_variadic_templates=200704L",
|
||||||
|
"__UINT_FAST64_MAX__=0xffffffffffffffffULL",
|
||||||
|
"__SIG_ATOMIC_TYPE__=int",
|
||||||
|
"__DBL_MIN_10_EXP__=(-307)",
|
||||||
|
"__FINITE_MATH_ONLY__=0",
|
||||||
|
"__cpp_variable_templates=201304L",
|
||||||
|
"__XCHAL_HAVE_L32R=1",
|
||||||
|
"__FLT32X_MAX_EXP__=1024",
|
||||||
|
"__GNUC_PATCHLEVEL__=0",
|
||||||
|
"__FLT32_HAS_DENORM__=1",
|
||||||
|
"__UINT_FAST8_MAX__=0xffffffffU",
|
||||||
|
"__cpp_rvalue_reference=200610L",
|
||||||
|
"__XCHAL_HAVE_LOOPS=1",
|
||||||
|
"__cpp_nested_namespace_definitions=201411L",
|
||||||
|
"__XCHAL_DEBUGLEVEL=6",
|
||||||
|
"__INT8_C(c)=c",
|
||||||
|
"__XCHAL_HAVE_DFP_RECIP=0",
|
||||||
|
"__INT_LEAST8_WIDTH__=8",
|
||||||
|
"__cpp_variadic_using=201611L",
|
||||||
|
"__UINT_LEAST64_MAX__=0xffffffffffffffffULL",
|
||||||
|
"__INT_LEAST8_MAX__=0x7f",
|
||||||
|
"__cpp_attributes=200809L",
|
||||||
|
"__cpp_capture_star_this=201603L",
|
||||||
|
"__SHRT_MAX__=0x7fff",
|
||||||
|
"__LDBL_MAX__=1.7976931348623157e+308L",
|
||||||
|
"__cpp_if_constexpr=201606L",
|
||||||
|
"__XCHAL_ICACHE_LINESIZE=16",
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||||||
|
"__cpp_exceptions=199711L",
|
||||||
|
"__FLT_MIN_10_EXP__=(-37)",
|
||||||
|
"__FLT64_MIN__=2.2250738585072014e-308F64",
|
||||||
|
"__INT_LEAST32_WIDTH__=32",
|
||||||
|
"__INTMAX_TYPE__=long long int",
|
||||||
|
"__XCHAL_HAVE_ABS=1",
|
||||||
|
"__FLT32X_HAS_QUIET_NAN__=1",
|
||||||
|
"__ATOMIC_CONSUME=1",
|
||||||
|
"__XCHAL_NUM_DBREAK=2",
|
||||||
|
"__XCHAL_HAVE_WIDE_BRANCHES=0",
|
||||||
|
"__GNUC_MINOR__=2",
|
||||||
|
"__INT_FAST16_WIDTH__=32",
|
||||||
|
"__UINTMAX_MAX__=0xffffffffffffffffULL",
|
||||||
|
"__FLT32X_DENORM_MIN__=4.9406564584124654e-324F32x",
|
||||||
|
"__cpp_template_template_args=201611L",
|
||||||
|
"__DBL_MAX_10_EXP__=308",
|
||||||
|
"__LDBL_DENORM_MIN__=4.9406564584124654e-324L",
|
||||||
|
"__INT16_C(c)=c",
|
||||||
|
"__STDC__=1",
|
||||||
|
"__PTRDIFF_TYPE__=int",
|
||||||
|
"__LONG_MAX__=0x7fffffffL",
|
||||||
|
"__XCHAL_HAVE_FP_SQRT=1",
|
||||||
|
"__UINT32_TYPE__=long unsigned int",
|
||||||
|
"__FLT32X_MIN_10_EXP__=(-307)",
|
||||||
|
"__UINTPTR_TYPE__=unsigned int",
|
||||||
|
"__LDBL_MIN_10_EXP__=(-307)",
|
||||||
|
"__cpp_generic_lambdas=201304L",
|
||||||
|
"__SIZEOF_LONG_LONG__=8",
|
||||||
|
"__cpp_user_defined_literals=200809L",
|
||||||
|
"__GCC_ATOMIC_LLONG_LOCK_FREE=1",
|
||||||
|
"__FLT_DECIMAL_DIG__=9",
|
||||||
|
"__UINT_FAST16_MAX__=0xffffffffU",
|
||||||
|
"__LDBL_NORM_MAX__=1.7976931348623157e+308L",
|
||||||
|
"__GCC_ATOMIC_SHORT_LOCK_FREE=2",
|
||||||
|
"__XCHAL_HAVE_BE=0",
|
||||||
|
"__UINT_FAST8_TYPE__=unsigned int",
|
||||||
|
"__cpp_init_captures=201304L",
|
||||||
|
"__ATOMIC_ACQ_REL=4",
|
||||||
|
"__ATOMIC_RELEASE=3",
|
||||||
|
"USBCON"
|
||||||
|
]
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
|
|
@ -0,0 +1,8 @@
|
||||||
|
{
|
||||||
|
"C_Cpp.errorSquiggles": "enabled",
|
||||||
|
"C_Cpp.default.compilerPath": "~/.arduino15/packages/esp32/tools/esp-x32/2411/bin/xtensa-esp32-elf-g++",
|
||||||
|
"files.associations": {
|
||||||
|
".fantomasignore": "ignore",
|
||||||
|
"string_view": "cpp"
|
||||||
|
}
|
||||||
|
}
|
||||||
102
README.md
102
README.md
|
|
@ -57,7 +57,7 @@ The library requires these additional libraries for full functionality:
|
||||||
**Core DShotRMT (always required):**
|
**Core DShotRMT (always required):**
|
||||||
- ESP32 Arduino Core
|
- ESP32 Arduino Core
|
||||||
|
|
||||||
**Web Interface Example (dshot300.ino):**
|
**Web Interface Example (web_control.ino / web_client.ino):**
|
||||||
```ini
|
```ini
|
||||||
lib_deps =
|
lib_deps =
|
||||||
https://github.com/derdoktor667/DShotRMT
|
https://github.com/derdoktor667/DShotRMT
|
||||||
|
|
@ -101,92 +101,6 @@ void loop() {
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
```
|
```
|
||||||
|
|
||||||
### Web Control Interface
|
|
||||||
|
|
||||||
```cpp
|
|
||||||
#include <DShotRMT.h>
|
|
||||||
#include <WiFi.h>
|
|
||||||
#include <ESPAsyncWebServer.h>
|
|
||||||
|
|
||||||
DShotRMT motor(17, DSHOT300, false);
|
|
||||||
AsyncWebServer server(80);
|
|
||||||
AsyncWebSocket ws("/ws");
|
|
||||||
|
|
||||||
void setup() {
|
|
||||||
// Initialize motor
|
|
||||||
motor.begin();
|
|
||||||
|
|
||||||
// Create WiFi Access Point
|
|
||||||
WiFi.softAP("DShotRMT Control", "12345678");
|
|
||||||
|
|
||||||
// Setup web interface
|
|
||||||
ws.onEvent(onWsEvent);
|
|
||||||
server.addHandler(&ws);
|
|
||||||
server.on("/", HTTP_GET, [](AsyncWebServerRequest *request) {
|
|
||||||
request->send_P(200, "text/html", index_html);
|
|
||||||
});
|
|
||||||
server.begin();
|
|
||||||
|
|
||||||
// Access at http://10.10.10.1
|
|
||||||
}
|
|
||||||
|
|
||||||
void loop() {
|
|
||||||
// Handle WebSocket communication and motor control
|
|
||||||
ws.cleanupClients();
|
|
||||||
}
|
|
||||||
```
|
|
||||||
|
|
||||||
### Advanced Command Management
|
|
||||||
|
|
||||||
```cpp
|
|
||||||
#include <DShotRMT.h>
|
|
||||||
#include <DShotCommandManager.h>
|
|
||||||
|
|
||||||
DShotRMT motor(17, DSHOT300, false);
|
|
||||||
DShotCommandManager cmdManager(motor);
|
|
||||||
|
|
||||||
void setup() {
|
|
||||||
motor.begin();
|
|
||||||
cmdManager.begin();
|
|
||||||
}
|
|
||||||
|
|
||||||
void loop() {
|
|
||||||
// High-level ESC control
|
|
||||||
cmdManager.stopMotor();
|
|
||||||
cmdManager.activateBeacon(1);
|
|
||||||
cmdManager.setSpinDirection(false);
|
|
||||||
cmdManager.executeInitSequence();
|
|
||||||
}
|
|
||||||
```
|
|
||||||
|
|
||||||
### Bidirectional DShot (RPM Telemetry)
|
|
||||||
|
|
||||||
```cpp
|
|
||||||
#include <DShotRMT.h>
|
|
||||||
|
|
||||||
// Enable bidirectional mode for telemetry
|
|
||||||
DShotRMT motor(17, DSHOT300, true);
|
|
||||||
|
|
||||||
void setup() {
|
|
||||||
Serial.begin(115200);
|
|
||||||
motor.begin();
|
|
||||||
}
|
|
||||||
|
|
||||||
void loop() {
|
|
||||||
// Send throttle
|
|
||||||
motor.sendThrottle(1000);
|
|
||||||
|
|
||||||
// Get telemetry data
|
|
||||||
dshot_telemetry_result_t telemetry = motor.getTelemetry(14); // 14 magnets
|
|
||||||
if (telemetry.success) {
|
|
||||||
Serial.printf("eRPM: %u, Motor RPM: %u\n",
|
|
||||||
telemetry.erpm,
|
|
||||||
telemetry.motor_rpm);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
```
|
|
||||||
|
|
||||||
---
|
---
|
||||||
|
|
||||||
## 🌐 Web Control Interface
|
## 🌐 Web Control Interface
|
||||||
|
|
@ -228,7 +142,7 @@ Make sure you are using these libraries for [ESPAsyncWebServer](https://github.c
|
||||||
|
|
||||||
The library includes comprehensive examples:
|
The library includes comprehensive examples:
|
||||||
|
|
||||||
### 1. Basic DShot Control with Web Interface (`dshot300.ino`)
|
### 1. Basic DShot Control with Web Interface (`web_control.ino`)
|
||||||
- **Web Control Interface:** Modern responsive web UI accessible at `http://10.10.10.1`
|
- **Web Control Interface:** Modern responsive web UI accessible at `http://10.10.10.1`
|
||||||
- **WiFi Access Point:** Creates hotspot "DShotRMT Control" for wireless control
|
- **WiFi Access Point:** Creates hotspot "DShotRMT Control" for wireless control
|
||||||
- **Safety Features:** Arming/disarming system with motor safety lockout
|
- **Safety Features:** Arming/disarming system with motor safety lockout
|
||||||
|
|
@ -257,8 +171,8 @@ Interactive ESC control with full menu system:
|
||||||
0 - Emergency Stop
|
0 - Emergency Stop
|
||||||
|
|
||||||
Advanced Commands:
|
Advanced Commands:
|
||||||
cmd <number> - Send DShot command (0-47)
|
cmd <number> - Send DShot command (0 - 47)
|
||||||
throttle <value> - Set throttle (48-2047)
|
throttle <value> - Set throttle (48 - 2047)
|
||||||
repeat cmd <num> count <count> - Repeat command
|
repeat cmd <num> count <count> - Repeat command
|
||||||
```
|
```
|
||||||
|
|
||||||
|
|
@ -274,6 +188,8 @@ Advanced Commands:
|
||||||
| 300 | 300 kbit/s | 2.50 | 1.25 | 3.33 | ~53.28 |
|
| 300 | 300 kbit/s | 2.50 | 1.25 | 3.33 | ~53.28 |
|
||||||
| 600 | 600 kbit/s | 1.25 | 0.625 | 1.67 | ~26.72 |
|
| 600 | 600 kbit/s | 1.25 | 0.625 | 1.67 | ~26.72 |
|
||||||
|
|
||||||
|
For DShot, T1H length is always double T0H length.
|
||||||
|
|
||||||
### GPIO Configuration
|
### GPIO Configuration
|
||||||
```cpp
|
```cpp
|
||||||
// Using GPIO number
|
// Using GPIO number
|
||||||
|
|
@ -294,14 +210,14 @@ DShotRMT motor(17, DSHOT300, true);
|
||||||
| Command | Value | Description | Usage |
|
| Command | Value | Description | Usage |
|
||||||
|---------|-------|-------------|-------|
|
|---------|-------|-------------|-------|
|
||||||
| MOTOR_STOP | 0 | Stop motor | Always available |
|
| MOTOR_STOP | 0 | Stop motor | Always available |
|
||||||
| BEACON1 - 5 | 1 - 5 | Motor beeping | Motor identification |
|
| BEACON 1 - 5 | 1 - 5 | Motor beeping | Motor identification |
|
||||||
| ESC_INFO | 6 | Request ESC info | Get ESC version/settings |
|
| ESC_INFO | 6 | Request ESC info | Get ESC version/settings |
|
||||||
| SPIN_DIRECTION_1/2 | 7 - 8 | Set spin direction | Motor configuration |
|
| SPIN_DIRECTION_1/2 | 7 - 8 | Set spin direction | Motor configuration |
|
||||||
| 3D_MODE_OFF/ON | 9 - 10 | 3D mode control | Bidirectional flight |
|
| 3D_MODE_OFF/ON | 9 - 10 | 3D mode control | Bidirectional flight |
|
||||||
| SAVE_SETTINGS | 12 | Save to EEPROM | Permanent configuration |
|
| SAVE_SETTINGS | 12 | Save to EEPROM | Permanent configuration |
|
||||||
| EXTENDED_TELEMETRY_ENABLE/DISABLE | 13 - 14 | Telemetry control | Data transmission |
|
| EXTENDED_TELEMETRY_ENABLE/DISABLE | 13 - 14 | Telemetry control | Data transmission |
|
||||||
| SPIN_DIRECTION_NORMAL/REVERSED | 20 - 21 | Spin direction | Alias commands |
|
| SPIN_DIRECTION_NORMAL/REVERSED | 20 - 21 | Spin direction | Alias commands |
|
||||||
| LED0-3_ON/OFF | 22 - 29 | LED control | BLHeli32 only |
|
| LED 0-3_ON/OFF | 22 - 29 | LED control | BLHeli32 only |
|
||||||
| AUDIO_STREAM_MODE | 30 | Audio mode toggle | KISS ESCs |
|
| AUDIO_STREAM_MODE | 30 | Audio mode toggle | KISS ESCs |
|
||||||
| SILENT_MODE | 31 | Silent mode toggle | KISS ESCs |
|
| SILENT_MODE | 31 | Silent mode toggle | KISS ESCs |
|
||||||
|
|
||||||
|
|
@ -341,7 +257,7 @@ The library utilizes the ESP32's RMT (Remote Control) peripheral for precise sig
|
||||||
### Advantages
|
### Advantages
|
||||||
- **Hardware Timing:** No CPU intervention during transmission
|
- **Hardware Timing:** No CPU intervention during transmission
|
||||||
- **Concurrent Operation:** Multiple channels can run simultaneously
|
- **Concurrent Operation:** Multiple channels can run simultaneously
|
||||||
- **DMA Support:** Efficient memory-to-peripheral transfers
|
- **DMA Support:** Efficient, automatic memory-to-peripheral transfers
|
||||||
|
|
||||||
---
|
---
|
||||||
|
|
||||||
|
|
|
||||||
|
|
@ -308,13 +308,6 @@ void printSystemStatus()
|
||||||
USB_SERIAL.println("\n=== System Status ===");
|
USB_SERIAL.println("\n=== System Status ===");
|
||||||
USB_SERIAL.printf("Current throttle: %u\n", throttle_now);
|
USB_SERIAL.printf("Current throttle: %u\n", throttle_now);
|
||||||
USB_SERIAL.printf("Continuous mode: %s\n", throttle_now > 0 ? "ACTIVE" : "INACTIVE");
|
USB_SERIAL.printf("Continuous mode: %s\n", throttle_now > 0 ? "ACTIVE" : "INACTIVE");
|
||||||
USB_SERIAL.printf("GPIO Pin: %d\n", motor01.getGPIO());
|
|
||||||
USB_SERIAL.printf("DShot Mode: DSHOT%d\n",
|
|
||||||
motor01.getMode() == DSHOT150 ? 150 : motor01.getMode() == DSHOT300 ? 300
|
|
||||||
: motor01.getMode() == DSHOT600 ? 600
|
|
||||||
: motor01.getMode() == DSHOT1200 ? 1200
|
|
||||||
: 0);
|
|
||||||
USB_SERIAL.printf("Bidirectional: %s\n", motor01.is_bidirectional() ? "YES" : "NO");
|
|
||||||
USB_SERIAL.printf("Free heap: %u bytes\n", ESP.getFreeHeap());
|
USB_SERIAL.printf("Free heap: %u bytes\n", ESP.getFreeHeap());
|
||||||
USB_SERIAL.printf("Uptime: %lu seconds\n", millis() / 1000);
|
USB_SERIAL.printf("Uptime: %lu seconds\n", millis() / 1000);
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -10,7 +10,6 @@
|
||||||
|
|
||||||
#include <Arduino.h>
|
#include <Arduino.h>
|
||||||
#include <DShotRMT.h>
|
#include <DShotRMT.h>
|
||||||
#include <dshot_commands.h>
|
|
||||||
|
|
||||||
// Command item
|
// Command item
|
||||||
typedef struct
|
typedef struct
|
||||||
|
|
|
||||||
|
|
@ -10,7 +10,7 @@
|
||||||
|
|
||||||
// Static Data & Helper Functions
|
// Static Data & Helper Functions
|
||||||
// Timing parameters for each DShot mode
|
// Timing parameters for each DShot mode
|
||||||
// Format: {frame_length_ticks, ticks_per_bit, t1h_ticks, t1l_ticks, t0h_ticks, t0l_ticks}
|
// Format: {bit_length_us, t1h_length_us}
|
||||||
static constexpr dshot_timing_us_t DSHOT_TIMING_US[] = {
|
static constexpr dshot_timing_us_t DSHOT_TIMING_US[] = {
|
||||||
{0.00, 0.00},
|
{0.00, 0.00},
|
||||||
{6.67, 5.00},
|
{6.67, 5.00},
|
||||||
|
|
@ -18,7 +18,7 @@ static constexpr dshot_timing_us_t DSHOT_TIMING_US[] = {
|
||||||
{1.67, 1.25},
|
{1.67, 1.25},
|
||||||
{0.83, 0.67}};
|
{0.83, 0.67}};
|
||||||
|
|
||||||
// Helper function to print DShot results
|
// Helper function to print DShot results and telemetry
|
||||||
void printDShotResult(dshot_result_t &result, Stream &output)
|
void printDShotResult(dshot_result_t &result, Stream &output)
|
||||||
{
|
{
|
||||||
output.printf("Status: %s - %s", result.success ? "SUCCESS" : "FAILED", result.msg);
|
output.printf("Status: %s - %s", result.success ? "SUCCESS" : "FAILED", result.msg);
|
||||||
|
|
@ -60,7 +60,7 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional)
|
||||||
_telemetry_ready_flag_atomic(false)
|
_telemetry_ready_flag_atomic(false)
|
||||||
{
|
{
|
||||||
// Configure RMT ticks for DShot timings
|
// Configure RMT ticks for DShot timings
|
||||||
_configureRMTTiming();
|
_preCalculateRMTTiming();
|
||||||
}
|
}
|
||||||
|
|
||||||
// Constructor using pin number
|
// Constructor using pin number
|
||||||
|
|
@ -365,7 +365,7 @@ uint16_t DShotRMT::_parseDShotPacket(const dshot_packet_t &packet)
|
||||||
}
|
}
|
||||||
|
|
||||||
// Calculate CRC
|
// Calculate CRC
|
||||||
uint16_t DShotRMT::_calculateCRC(const uint16_t data)
|
uint16_t DShotRMT::_calculateCRC(const uint16_t &data)
|
||||||
{
|
{
|
||||||
// DShot CRC
|
// DShot CRC
|
||||||
uint16_t crc = (data ^ (data >> 4) ^ (data >> 8)) & DSHOT_CRC_MASK;
|
uint16_t crc = (data ^ (data >> 4) ^ (data >> 8)) & DSHOT_CRC_MASK;
|
||||||
|
|
@ -380,14 +380,14 @@ uint16_t DShotRMT::_calculateCRC(const uint16_t data)
|
||||||
}
|
}
|
||||||
|
|
||||||
// Configure RMT ticks for DShot timings
|
// Configure RMT ticks for DShot timings
|
||||||
void DShotRMT::_configureRMTTiming()
|
void DShotRMT::_preCalculateRMTTiming()
|
||||||
{
|
{
|
||||||
// Convert DShot timings (us) to RMT ticks
|
// Convert DShot timings (us) to RMT ticks
|
||||||
_rmt_ticks.ticks_per_bit = 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);
|
||||||
_rmt_ticks.t1h_ticks = static_cast<uint16_t>(_dshot_timing.t1h_lenght_us * RMT_TICKS_PER_US);
|
_rmt_ticks.t1h_ticks = static_cast<uint16_t>(_dshot_timing.t1h_lenght_us * RMT_TICKS_PER_US);
|
||||||
_rmt_ticks.t0h_ticks = _rmt_ticks.t1h_ticks >> 1; // High time for a 1 is always double that of a 0
|
_rmt_ticks.t0h_ticks = _rmt_ticks.t1h_ticks >> 1; // High time for a 1 is always double that of a 0
|
||||||
_rmt_ticks.t1l_ticks = _rmt_ticks.ticks_per_bit - _rmt_ticks.t1h_ticks;
|
_rmt_ticks.t1l_ticks = _rmt_ticks.bit_length_ticks - _rmt_ticks.t1h_ticks;
|
||||||
_rmt_ticks.t0l_ticks = _rmt_ticks.ticks_per_bit - _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<uint32_t>(_dshot_timing.bit_length_us * DSHOT_BITS_PER_FRAME) << 1) + DSHOT_PADDING_US;
|
||||||
|
|
|
||||||
|
|
@ -23,7 +23,7 @@ static constexpr auto DSHOT_BITS_PER_FRAME = 16;
|
||||||
static constexpr auto DEFAULT_MOTOR_MAGNET_COUNT = 14;
|
static constexpr auto DEFAULT_MOTOR_MAGNET_COUNT = 14;
|
||||||
|
|
||||||
// DShot Modes
|
// DShot Modes
|
||||||
typedef enum
|
typedef enum dshot_mode
|
||||||
{
|
{
|
||||||
DSHOT_OFF,
|
DSHOT_OFF,
|
||||||
DSHOT150,
|
DSHOT150,
|
||||||
|
|
@ -33,7 +33,7 @@ typedef enum
|
||||||
} dshot_mode_t;
|
} dshot_mode_t;
|
||||||
|
|
||||||
// DShot Packet Structure
|
// DShot Packet Structure
|
||||||
typedef struct
|
typedef struct dshot_packet
|
||||||
{
|
{
|
||||||
uint16_t throttle_value : 11;
|
uint16_t throttle_value : 11;
|
||||||
bool telemetric_request : 1;
|
bool telemetric_request : 1;
|
||||||
|
|
@ -41,16 +41,16 @@ typedef struct
|
||||||
} dshot_packet_t;
|
} dshot_packet_t;
|
||||||
|
|
||||||
// DShot Timing Configuration
|
// DShot Timing Configuration
|
||||||
typedef struct
|
typedef struct dshot_timing
|
||||||
{
|
{
|
||||||
double bit_length_us;
|
double bit_length_us;
|
||||||
double t1h_lenght_us;
|
double t1h_lenght_us;
|
||||||
} dshot_timing_us_t;
|
} dshot_timing_us_t;
|
||||||
|
|
||||||
// RMT Timing Configuration
|
// RMT Timing Configuration
|
||||||
typedef struct
|
typedef struct rmt_ticks
|
||||||
{
|
{
|
||||||
uint16_t ticks_per_bit;
|
uint16_t bit_length_ticks;
|
||||||
uint16_t t1h_ticks;
|
uint16_t t1h_ticks;
|
||||||
uint16_t t1l_ticks;
|
uint16_t t1l_ticks;
|
||||||
uint16_t t0h_ticks;
|
uint16_t t0h_ticks;
|
||||||
|
|
@ -58,7 +58,7 @@ typedef struct
|
||||||
} rmt_ticks_t;
|
} rmt_ticks_t;
|
||||||
|
|
||||||
// Unified DShot Result Structure
|
// Unified DShot Result Structure
|
||||||
typedef struct
|
typedef struct dshot_result
|
||||||
{
|
{
|
||||||
bool success;
|
bool success;
|
||||||
const char *msg;
|
const char *msg;
|
||||||
|
|
@ -80,27 +80,22 @@ public:
|
||||||
// Constructors & Destructor
|
// Constructors & Destructor
|
||||||
explicit DShotRMT(gpio_num_t gpio = GPIO_NUM_16, dshot_mode_t mode = DSHOT300, bool is_bidirectional = false);
|
explicit DShotRMT(gpio_num_t gpio = GPIO_NUM_16, dshot_mode_t mode = DSHOT300, bool is_bidirectional = false);
|
||||||
DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional);
|
DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional);
|
||||||
|
|
||||||
~DShotRMT();
|
~DShotRMT();
|
||||||
|
|
||||||
// Public Core Functions
|
// Public Core Functions
|
||||||
// Initialize the RMT module and DShot config
|
// Initialize the RMT module and DShot config
|
||||||
dshot_result_t begin();
|
dshot_result_t begin();
|
||||||
|
|
||||||
// Send throttle value (48-2047)
|
// Send throttle value (48 - 2047)
|
||||||
dshot_result_t sendThrottle(uint16_t throttle);
|
dshot_result_t sendThrottle(uint16_t throttle);
|
||||||
|
|
||||||
// Send DShot command (0-47)
|
// Send DShot command (0 - 47)
|
||||||
dshot_result_t sendCommand(uint16_t command);
|
dshot_result_t sendCommand(uint16_t command);
|
||||||
|
|
||||||
// Get telemetry data (bidirectional mode only)
|
// Get telemetry data (bidirectional mode only)
|
||||||
dshot_result_t getTelemetry(uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT);
|
dshot_result_t getTelemetry(uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT);
|
||||||
|
|
||||||
// Public Getter Functions
|
|
||||||
gpio_num_t getGPIO() const { return _gpio; }
|
|
||||||
uint16_t getDShotPacket() const { return _parsed_packet; }
|
|
||||||
bool is_bidirectional() const { return _is_bidirectional; }
|
|
||||||
dshot_mode_t getMode() const { return _mode; }
|
|
||||||
|
|
||||||
// Public Info & Debug Functions
|
// Public Info & Debug Functions
|
||||||
void printDShotInfo(Stream &output = Serial) const;
|
void printDShotInfo(Stream &output = Serial) const;
|
||||||
void printCpuInfo(Stream &output = Serial) const;
|
void printCpuInfo(Stream &output = Serial) const;
|
||||||
|
|
@ -140,7 +135,7 @@ private:
|
||||||
static constexpr auto const RMT_TICKS_PER_US = DSHOT_RMT_RESOLUTION / (1 * 1000 * 1000); // RMT Ticks per microsecond
|
static constexpr auto const RMT_TICKS_PER_US = DSHOT_RMT_RESOLUTION / (1 * 1000 * 1000); // RMT Ticks per microsecond
|
||||||
static constexpr auto const RMT_BUFFER_SIZE = DSHOT_BITS_PER_FRAME;
|
static constexpr auto const RMT_BUFFER_SIZE = DSHOT_BITS_PER_FRAME;
|
||||||
static constexpr auto const DSHOT_RX_TIMEOUT_MS = 2;
|
static constexpr auto const DSHOT_RX_TIMEOUT_MS = 2;
|
||||||
static constexpr auto const DSHOT_PADDING_US = 3;
|
static constexpr auto const DSHOT_PADDING_US = 20; // Add to pause between frames for compatibility
|
||||||
static constexpr auto const RMT_BUFFER_SYMBOLS = 64;
|
static constexpr auto const RMT_BUFFER_SYMBOLS = 64;
|
||||||
static constexpr auto const RMT_QUEUE_DEPTH = 1;
|
static constexpr auto const RMT_QUEUE_DEPTH = 1;
|
||||||
static constexpr auto const GCR_BITS_PER_FRAME = 21; // Number of GCR bits in a DShot answer frame
|
static constexpr auto const GCR_BITS_PER_FRAME = 21; // Number of GCR bits in a DShot answer frame
|
||||||
|
|
@ -160,7 +155,6 @@ private:
|
||||||
static constexpr char const *TX_INIT_FAILED = "TX RMT channel init failed!";
|
static constexpr char const *TX_INIT_FAILED = "TX RMT channel init failed!";
|
||||||
static constexpr char const *RX_INIT_SUCCESS = "RX RMT channel initialized successfully";
|
static constexpr char const *RX_INIT_SUCCESS = "RX RMT channel initialized successfully";
|
||||||
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 *RX_BUFFER_FAILED = "RX RMT buffer 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 *TRANSMISSION_SUCCESS = "Transmission successfully";
|
static constexpr char const *TRANSMISSION_SUCCESS = "Transmission successfully";
|
||||||
|
|
@ -215,8 +209,8 @@ private:
|
||||||
// Private Packet Management Functions
|
// Private Packet Management Functions
|
||||||
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 _configureRMTTiming();
|
void _preCalculateRMTTiming();
|
||||||
void _preCalculateBitPositions();
|
void _preCalculateBitPositions();
|
||||||
|
|
||||||
// Private Frame Processing Functions
|
// Private Frame Processing Functions
|
||||||
|
|
|
||||||
|
|
@ -6,7 +6,7 @@
|
||||||
* @license MIT
|
* @license MIT
|
||||||
*/
|
*/
|
||||||
|
|
||||||
#pragma onve
|
#pragma once
|
||||||
|
|
||||||
// Web Site Content
|
// Web Site Content
|
||||||
static constexpr char index_html[] = R"rawliteral(
|
static constexpr char index_html[] = R"rawliteral(
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue