Wastl Kraus
parent
7e8c7466cd
commit
fbf4559da3
|
|
@ -1,4 +1,5 @@
|
|||
name: ESP32 Build & Quality Check
|
||||
|
||||
permissions:
|
||||
contents: read
|
||||
|
||||
|
|
@ -8,80 +9,106 @@ on:
|
|||
|
||||
concurrency:
|
||||
group: ${{ github.workflow }}-${{ github.ref }}
|
||||
cancel-in-progress: true
|
||||
|
||||
jobs:
|
||||
# ============================================================================
|
||||
# Code Quality & Linting
|
||||
# ============================================================================
|
||||
quality-check:
|
||||
name: 'Arduino Lint Check'
|
||||
name: Arduino Lint Check
|
||||
runs-on: ubuntu-latest
|
||||
timeout-minutes: 10
|
||||
|
||||
steps:
|
||||
- name: Checkout Repository
|
||||
uses: actions/checkout@v5
|
||||
- uses: actions/checkout@v5
|
||||
|
||||
- name: Setup Arduino CLI
|
||||
uses: arduino/setup-arduino-cli@v2
|
||||
- uses: arduino/setup-arduino-cli@v2
|
||||
|
||||
- name: Install ESP32 core
|
||||
- name: Cache Arduino Core
|
||||
uses: actions/cache@v4
|
||||
with:
|
||||
path: |
|
||||
~/.arduino15/packages
|
||||
~/.arduino15/cache
|
||||
key: arduino-core-${{ runner.os }}-esp32-v1
|
||||
restore-keys: |
|
||||
arduino-core-${{ runner.os }}-
|
||||
|
||||
- name: Install ESP32 Core
|
||||
run: |
|
||||
arduino-cli core update-index > /dev/null
|
||||
arduino-cli core install esp32:esp32 > /dev/null
|
||||
arduino-cli core update-index --additional-urls https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
|
||||
arduino-cli core install esp32:esp32
|
||||
|
||||
- name: Arduino Lint
|
||||
uses: arduino/arduino-lint-action@v2
|
||||
- uses: arduino/arduino-lint-action@v2
|
||||
with:
|
||||
path: ${{ github.workspace }}
|
||||
compliance: strict
|
||||
library-manager: update
|
||||
verbose: true
|
||||
|
||||
# ============================================================================
|
||||
# ============================================================================
|
||||
# Compilation Test
|
||||
# ============================================================================
|
||||
compile-test:
|
||||
name: 'Compile Example Sketches'
|
||||
name: Compile Example Sketches
|
||||
runs-on: ubuntu-latest
|
||||
timeout-minutes: 15
|
||||
|
||||
strategy:
|
||||
fail-fast: false
|
||||
matrix:
|
||||
examples:
|
||||
- "examples/dshot300/dshot300.ino"
|
||||
- "examples/command_manager/command_manager.ino"
|
||||
- "examples/web_control/web_control.ino"
|
||||
- "examples/web_client/web_client.ino"
|
||||
example:
|
||||
- examples/dshot300/dshot300.ino
|
||||
- examples/command_manager/command_manager.ino
|
||||
- examples/web_control/web_control.ino
|
||||
- examples/web_client/web_client.ino
|
||||
|
||||
steps:
|
||||
- name: Checkout Repository
|
||||
uses: actions/checkout@v5
|
||||
- uses: actions/checkout@v5
|
||||
|
||||
- name: Setup Arduino CLI
|
||||
uses: arduino/setup-arduino-cli@v2
|
||||
- uses: arduino/setup-arduino-cli@v2
|
||||
|
||||
- name: Cache Arduino Core & Libraries
|
||||
uses: actions/cache@v4
|
||||
with:
|
||||
path: |
|
||||
~/.arduino15/packages
|
||||
~/.arduino15/cache
|
||||
~/Arduino/libraries
|
||||
key: arduino-full-${{ runner.os }}-esp32-v1
|
||||
restore-keys: |
|
||||
arduino-full-${{ runner.os }}-
|
||||
|
||||
- name: Install ESP32 Core and Dependencies
|
||||
run: |
|
||||
arduino-cli core update-index
|
||||
arduino-cli core update-index --additional-urls https://raw.githubusercontent.com/espressif/arduino-esp32/gh-pages/package_esp32_index.json
|
||||
arduino-cli core install esp32:esp32
|
||||
|
||||
arduino-cli lib install "ArduinoJson"
|
||||
|
||||
# Workround for ESPAsyncWebServer
|
||||
git clone https://github.com/ESP32Async/ESPAsyncWebServer ~/Arduino/libraries/ESPAsyncWebServer
|
||||
git clone https://github.com/ESP32Async/AsyncTCP ~/Arduino/libraries/AsyncTCP
|
||||
mkdir -p ~/Arduino/libraries
|
||||
|
||||
# Cached repository check
|
||||
if [ ! -d ~/Arduino/libraries/ESPAsyncWebServer ]; then
|
||||
git clone --depth=1 https://github.com/ESP32Async/ESPAsyncWebServer ~/Arduino/libraries/ESPAsyncWebServer
|
||||
fi
|
||||
|
||||
if [ ! -d ~/Arduino/libraries/AsyncTCP ]; then
|
||||
git clone --depth=1 https://github.com/ESP32Async/AsyncTCP ~/Arduino/libraries/AsyncTCP
|
||||
fi
|
||||
|
||||
- name: Compile Sketch
|
||||
run: |
|
||||
arduino-cli compile --fqbn esp32:esp32:esp32 --library ${{ github.workspace }} ${{ matrix.examples}}
|
||||
arduino-cli compile \
|
||||
--fqbn esp32:esp32:esp32 \
|
||||
--library ${{ github.workspace }} \
|
||||
${{ matrix.example }}
|
||||
|
||||
# ============================================================================
|
||||
# Build Status Report
|
||||
# ============================================================================
|
||||
build-summary:
|
||||
name: 'Build Summary'
|
||||
name: Build Summary
|
||||
runs-on: ubuntu-latest
|
||||
if: always()
|
||||
needs: [quality-check, compile-test]
|
||||
|
|
@ -90,32 +117,21 @@ jobs:
|
|||
- name: Create Build Summary
|
||||
run: |
|
||||
echo "# 🔧 DShotRMT Build Report" >> $GITHUB_STEP_SUMMARY
|
||||
echo "" >> $GITHUB_STEP_SUMMARY
|
||||
echo "| Check | Status | Details |" >> $GITHUB_STEP_SUMMARY
|
||||
echo "|-------|--------|---------|" >> $GITHUB_STEP_SUMMARY
|
||||
|
||||
# Quality Check Status
|
||||
if [[ "${{ needs.quality-check.result }}" == "success" ]]; then
|
||||
echo "| 📋 Quality Check | ✅ Passed | Arduino Lint completed successfully |" >> $GITHUB_STEP_SUMMARY
|
||||
else
|
||||
echo "| 📋 Quality Check | ❌ Failed | Check Arduino Lint report |" >> $GITHUB_STEP_SUMMARY
|
||||
fi
|
||||
[[ "${{ needs.quality-check.result }}" == "success" ]] \
|
||||
&& echo "| 📋 Quality Check | ✅ Passed | Arduino Lint completed successfully |" >> $GITHUB_STEP_SUMMARY \
|
||||
|| echo "| 📋 Quality Check | ❌ Failed | Check Arduino Lint report |" >> $GITHUB_STEP_SUMMARY
|
||||
|
||||
# Compile Test Status
|
||||
if [[ "${{ needs.compile-test.result }}" == "success" ]]; then
|
||||
echo "| 🔨 Compilation | ✅ Passed | All examples compiled successfully |" >> $GITHUB_STEP_SUMMARY
|
||||
else
|
||||
echo "| 🔨 Compilation | ❌ Failed | Compilation errors detected |" >> $GITHUB_STEP_SUMMARY
|
||||
fi
|
||||
[[ "${{ needs.compile-test.result }}" == "success" ]] \
|
||||
&& echo "| 🔨 Compilation | ✅ Passed | All examples compiled successfully |" >> $GITHUB_STEP_SUMMARY \
|
||||
|| echo "| 🔨 Compilation | ❌ Failed | Compilation errors detected |" >> $GITHUB_STEP_SUMMARY
|
||||
|
||||
echo "" >> $GITHUB_STEP_SUMMARY
|
||||
|
||||
# Overall Status
|
||||
if [[ "${{ needs.quality-check.result }}" == "success" &&
|
||||
"${{ needs.compile-test.result }}" == "success" ]]; then
|
||||
echo "## 🎉 All Checks Passed!" >> $GITHUB_STEP_SUMMARY
|
||||
echo "Your DShotRMT library is ready for deployment." >> $GITHUB_STEP_SUMMARY
|
||||
else
|
||||
echo "## ⚠️ Action Required" >> $GITHUB_STEP_SUMMARY
|
||||
echo "Please review the failed checks and address any issues."
|
||||
fi
|
||||
[[ "${{ needs.quality-check.result }}" == "success" && "${{ needs.compile-test.result }}" == "success" ]] \
|
||||
&& echo "## 🎉 All Checks Passed!" >> $GITHUB_STEP_SUMMARY \
|
||||
&& echo "Your DShotRMT library is ready for deployment." >> $GITHUB_STEP_SUMMARY \
|
||||
|| echo "## ⚠️ Action Required" >> $GITHUB_STEP_SUMMARY \
|
||||
&& echo "Please review the failed checks and address any issues." >> $GITHUB_STEP_SUMMARY
|
||||
|
|
|
|||
|
|
@ -62,6 +62,358 @@ void onWsEvent(AsyncWebSocket *server, AsyncWebSocketClient *client, AwsEventTyp
|
|||
bool connectToWiFi();
|
||||
void printWiFiStatus();
|
||||
|
||||
// Web Site Content
|
||||
const char index_html[] PROGMEM = R"rawliteral(
|
||||
<!DOCTYPE html>
|
||||
<html lang="de">
|
||||
|
||||
<head>
|
||||
<meta charset="UTF-8">
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=no">
|
||||
<title>DShotRMT Web Client</title>
|
||||
<style>
|
||||
body {
|
||||
font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, "Helvetica Neue", Arial, sans-serif;
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
align-items: center;
|
||||
background-color: #2c3e50;
|
||||
color: #ecf0f1;
|
||||
margin: 0;
|
||||
height: 100dvh;
|
||||
justify-content: center;
|
||||
}
|
||||
|
||||
h1 {
|
||||
font-size: 1.5em;
|
||||
font-weight: bold;
|
||||
margin-bottom: 20px;
|
||||
}
|
||||
|
||||
.control-container {
|
||||
background-color: #34495e;
|
||||
padding: 30px;
|
||||
border-radius: 12px;
|
||||
box-shadow: 0 4px 8px rgba(0, 0, 0, 0.2);
|
||||
text-align: center;
|
||||
width: 85%;
|
||||
max-width: 500px;
|
||||
}
|
||||
|
||||
/* Arming Switch Styles */
|
||||
.arming-section {
|
||||
margin-bottom: 25px;
|
||||
padding: 15px;
|
||||
background-color: #2c3e50;
|
||||
border-radius: 8px;
|
||||
border: 2px solid #e74c3c;
|
||||
}
|
||||
|
||||
.arming-switch {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: center;
|
||||
gap: 15px;
|
||||
margin-bottom: 10px;
|
||||
}
|
||||
|
||||
.switch {
|
||||
position: relative;
|
||||
display: inline-block;
|
||||
width: 60px;
|
||||
height: 34px;
|
||||
}
|
||||
|
||||
.switch input {
|
||||
opacity: 0;
|
||||
width: 0;
|
||||
height: 0;
|
||||
}
|
||||
|
||||
.slider-switch {
|
||||
position: absolute;
|
||||
cursor: pointer;
|
||||
top: 0;
|
||||
left: 0;
|
||||
right: 0;
|
||||
bottom: 0;
|
||||
background-color: #e74c3c;
|
||||
-webkit-transition: .4s;
|
||||
transition: .4s;
|
||||
border-radius: 34px;
|
||||
}
|
||||
|
||||
.slider-switch:before {
|
||||
position: absolute;
|
||||
content: "";
|
||||
height: 26px;
|
||||
width: 26px;
|
||||
left: 4px;
|
||||
bottom: 4px;
|
||||
background-color: white;
|
||||
-webkit-transition: .4s;
|
||||
transition: .4s;
|
||||
border-radius: 50%;
|
||||
}
|
||||
|
||||
input:checked+.slider-switch {
|
||||
background-color: #27ae60;
|
||||
}
|
||||
|
||||
input:checked+.slider-switch:before {
|
||||
-webkit-transform: translateX(26px);
|
||||
-ms-transform: translateX(26px);
|
||||
transform: translateX(26px);
|
||||
}
|
||||
|
||||
.arming-label {
|
||||
font-size: 1.2em;
|
||||
font-weight: bold;
|
||||
}
|
||||
|
||||
.arming-status {
|
||||
font-size: 0.9em;
|
||||
margin-top: 5px;
|
||||
}
|
||||
|
||||
.status-disarmed {
|
||||
color: #e74c3c;
|
||||
}
|
||||
|
||||
.status-armed {
|
||||
color: #27ae60;
|
||||
}
|
||||
|
||||
/* Throttle Section */
|
||||
.throttle-section {
|
||||
opacity: 0.3;
|
||||
transition: opacity 0.3s ease;
|
||||
}
|
||||
|
||||
.throttle-section.armed {
|
||||
opacity: 1;
|
||||
}
|
||||
|
||||
#throttleValue {
|
||||
font-size: 2.5em;
|
||||
font-weight: bold;
|
||||
color: #3498db;
|
||||
margin-bottom: 20px;
|
||||
}
|
||||
|
||||
#throttleSlider {
|
||||
appearance: none;
|
||||
width: 100%;
|
||||
height: 25px;
|
||||
background: #2c3e50;
|
||||
outline: none;
|
||||
border-radius: 12px;
|
||||
}
|
||||
|
||||
#throttleSlider::-webkit-slider-thumb {
|
||||
-webkit-appearance: none;
|
||||
appearance: none;
|
||||
width: 40px;
|
||||
height: 40px;
|
||||
background: #3498db;
|
||||
cursor: pointer;
|
||||
border-radius: 50%;
|
||||
}
|
||||
|
||||
#throttleSlider::-moz-range-thumb {
|
||||
width: 40px;
|
||||
height: 40px;
|
||||
background: #3498db;
|
||||
cursor: pointer;
|
||||
border-radius: 50%;
|
||||
border: none;
|
||||
}
|
||||
|
||||
.stats {
|
||||
margin-top: 20px;
|
||||
font-size: 1.2em;
|
||||
}
|
||||
|
||||
.stats span {
|
||||
font-weight: bold;
|
||||
color: #e67e22;
|
||||
}
|
||||
|
||||
.warning-text {
|
||||
color: #e74c3c;
|
||||
font-size: 0.9em;
|
||||
margin-top: 10px;
|
||||
font-style: italic;
|
||||
}
|
||||
</style>
|
||||
</head>
|
||||
|
||||
<body>
|
||||
<h1>DShotRMT Web Client</h1>
|
||||
<div class="control-container">
|
||||
<!-- Arming Section -->
|
||||
<div class="arming-section">
|
||||
<div class="arming-switch">
|
||||
<span class="arming-label">ARMING SWITCH</span>
|
||||
<label class="switch">
|
||||
<input type="checkbox" id="armingSwitch">
|
||||
<span class="slider-switch"></span>
|
||||
</label>
|
||||
</div>
|
||||
<div class="arming-status">
|
||||
<span id="armingStatus" class="status-disarmed">DISARMED</span>
|
||||
</div>
|
||||
<div class="warning-text">
|
||||
⚠️ Disabled when disarmed!
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<!-- Throttle Section -->
|
||||
<div class="throttle-section" id="throttleSection">
|
||||
<div id="throttleValue">0</div>
|
||||
<input type="range" min="48" max="2047" value="0" id="throttleSlider" disabled>
|
||||
</div>
|
||||
|
||||
<div class="stats">
|
||||
RPM: <span id="rpmValue">--</span>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<script>
|
||||
const gateway = `ws://${window.location.hostname}/ws`;
|
||||
let websocket;
|
||||
let isArmed = false;
|
||||
|
||||
// Init WebSocket
|
||||
window.addEventListener('load', () => {
|
||||
initWebSocket();
|
||||
});
|
||||
|
||||
function initWebSocket() {
|
||||
console.log('Trying to open a WebSocket connection...');
|
||||
|
||||
websocket = new WebSocket(gateway);
|
||||
websocket.onopen = onOpen;
|
||||
websocket.onclose = onClose;
|
||||
websocket.onmessage = onMessage;
|
||||
}
|
||||
|
||||
function onOpen(event) {
|
||||
console.log('Connection opened');
|
||||
}
|
||||
|
||||
function onClose(event) {
|
||||
console.log('Connection closed');
|
||||
setTimeout(initWebSocket, 2000);
|
||||
}
|
||||
|
||||
// Getting data from sketch
|
||||
function onMessage(event) {
|
||||
try {
|
||||
const data = JSON.parse(event.data);
|
||||
|
||||
if (data.rpm !== undefined) {
|
||||
document.getElementById('rpmValue').innerText = data.rpm;
|
||||
}
|
||||
|
||||
// Sync web and serial throttle inputs
|
||||
if (data.throttle !== undefined) {
|
||||
if (isArmed) {
|
||||
document.getElementById('throttleSlider').value = data.throttle;
|
||||
document.getElementById('throttleValue').innerText = data.throttle;
|
||||
}
|
||||
}
|
||||
|
||||
// Sync arming status if received from ESP32
|
||||
if (data.armed !== undefined) {
|
||||
isArmed = data.armed;
|
||||
updateArmingUI();
|
||||
}
|
||||
|
||||
} catch (e) {
|
||||
console.error("Error parsing JSON: ", e);
|
||||
}
|
||||
}
|
||||
|
||||
// Elements
|
||||
const slider = document.getElementById('throttleSlider');
|
||||
const sliderValue = document.getElementById('throttleValue');
|
||||
const armingSwitch = document.getElementById('armingSwitch');
|
||||
const armingStatus = document.getElementById('armingStatus');
|
||||
const throttleSection = document.getElementById('throttleSection');
|
||||
|
||||
// Arming switch event
|
||||
armingSwitch.addEventListener('change', () => {
|
||||
isArmed = armingSwitch.checked;
|
||||
updateArmingUI();
|
||||
|
||||
// Send arming status to ESP32
|
||||
const message = JSON.stringify({
|
||||
"armed": isArmed,
|
||||
"throttle": isArmed ? parseInt(slider.value) : 0
|
||||
});
|
||||
|
||||
console.log("Sending arming status: ", message);
|
||||
websocket.send(message);
|
||||
|
||||
// If disarmed, set throttle to 0
|
||||
if (!isArmed) {
|
||||
slider.value = 0;
|
||||
sliderValue.innerText = 0;
|
||||
}
|
||||
});
|
||||
|
||||
// Update UI based on arming status
|
||||
function updateArmingUI() {
|
||||
|
||||
// Synch checkbox, as well
|
||||
armingSwitch.checked = isArmed;
|
||||
|
||||
if (isArmed) {
|
||||
armingStatus.innerText = 'ARMED';
|
||||
armingStatus.className = 'status-armed';
|
||||
throttleSection.classList.add('armed');
|
||||
slider.disabled = false;
|
||||
} else {
|
||||
armingStatus.innerText = 'DISARMED';
|
||||
armingStatus.className = 'status-disarmed';
|
||||
throttleSection.classList.remove('armed');
|
||||
slider.disabled = true;
|
||||
slider.value = 0;
|
||||
sliderValue.innerText = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// Throttle slider event
|
||||
slider.addEventListener('input', () => {
|
||||
if (!isArmed) {
|
||||
slider.disabled = true;
|
||||
slider.value = 0;
|
||||
sliderValue.innerText = 0;
|
||||
return;
|
||||
}
|
||||
|
||||
const throttle = slider.value;
|
||||
sliderValue.innerText = throttle;
|
||||
|
||||
const message = JSON.stringify({
|
||||
"throttle": parseInt(throttle),
|
||||
"armed": isArmed
|
||||
});
|
||||
|
||||
console.log("Sending throttle: ", message);
|
||||
websocket.send(message);
|
||||
});
|
||||
|
||||
// Initialize UI
|
||||
updateArmingUI();
|
||||
</script>
|
||||
</body>
|
||||
|
||||
</html>
|
||||
|
||||
)rawliteral";
|
||||
|
||||
//
|
||||
void setup()
|
||||
{
|
||||
|
|
|
|||
|
|
@ -58,6 +58,358 @@ void handleWebSocketMessage(void *arg, uint8_t *data, size_t len);
|
|||
void onWsEvent(AsyncWebSocket *server, AsyncWebSocketClient *client, AwsEventType type, void *arg, uint8_t *data, size_t len);
|
||||
void setArmingStatus(bool armed);
|
||||
|
||||
// Web Site Content
|
||||
const char index_html[] PROGMEM = R"rawliteral(
|
||||
<!DOCTYPE html>
|
||||
<html lang="de">
|
||||
|
||||
<head>
|
||||
<meta charset="UTF-8">
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=no">
|
||||
<title>DShotRMT Web Client</title>
|
||||
<style>
|
||||
body {
|
||||
font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, "Helvetica Neue", Arial, sans-serif;
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
align-items: center;
|
||||
background-color: #2c3e50;
|
||||
color: #ecf0f1;
|
||||
margin: 0;
|
||||
height: 100dvh;
|
||||
justify-content: center;
|
||||
}
|
||||
|
||||
h1 {
|
||||
font-size: 1.5em;
|
||||
font-weight: bold;
|
||||
margin-bottom: 20px;
|
||||
}
|
||||
|
||||
.control-container {
|
||||
background-color: #34495e;
|
||||
padding: 30px;
|
||||
border-radius: 12px;
|
||||
box-shadow: 0 4px 8px rgba(0, 0, 0, 0.2);
|
||||
text-align: center;
|
||||
width: 85%;
|
||||
max-width: 500px;
|
||||
}
|
||||
|
||||
/* Arming Switch Styles */
|
||||
.arming-section {
|
||||
margin-bottom: 25px;
|
||||
padding: 15px;
|
||||
background-color: #2c3e50;
|
||||
border-radius: 8px;
|
||||
border: 2px solid #e74c3c;
|
||||
}
|
||||
|
||||
.arming-switch {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: center;
|
||||
gap: 15px;
|
||||
margin-bottom: 10px;
|
||||
}
|
||||
|
||||
.switch {
|
||||
position: relative;
|
||||
display: inline-block;
|
||||
width: 60px;
|
||||
height: 34px;
|
||||
}
|
||||
|
||||
.switch input {
|
||||
opacity: 0;
|
||||
width: 0;
|
||||
height: 0;
|
||||
}
|
||||
|
||||
.slider-switch {
|
||||
position: absolute;
|
||||
cursor: pointer;
|
||||
top: 0;
|
||||
left: 0;
|
||||
right: 0;
|
||||
bottom: 0;
|
||||
background-color: #e74c3c;
|
||||
-webkit-transition: .4s;
|
||||
transition: .4s;
|
||||
border-radius: 34px;
|
||||
}
|
||||
|
||||
.slider-switch:before {
|
||||
position: absolute;
|
||||
content: "";
|
||||
height: 26px;
|
||||
width: 26px;
|
||||
left: 4px;
|
||||
bottom: 4px;
|
||||
background-color: white;
|
||||
-webkit-transition: .4s;
|
||||
transition: .4s;
|
||||
border-radius: 50%;
|
||||
}
|
||||
|
||||
input:checked+.slider-switch {
|
||||
background-color: #27ae60;
|
||||
}
|
||||
|
||||
input:checked+.slider-switch:before {
|
||||
-webkit-transform: translateX(26px);
|
||||
-ms-transform: translateX(26px);
|
||||
transform: translateX(26px);
|
||||
}
|
||||
|
||||
.arming-label {
|
||||
font-size: 1.2em;
|
||||
font-weight: bold;
|
||||
}
|
||||
|
||||
.arming-status {
|
||||
font-size: 0.9em;
|
||||
margin-top: 5px;
|
||||
}
|
||||
|
||||
.status-disarmed {
|
||||
color: #e74c3c;
|
||||
}
|
||||
|
||||
.status-armed {
|
||||
color: #27ae60;
|
||||
}
|
||||
|
||||
/* Throttle Section */
|
||||
.throttle-section {
|
||||
opacity: 0.3;
|
||||
transition: opacity 0.3s ease;
|
||||
}
|
||||
|
||||
.throttle-section.armed {
|
||||
opacity: 1;
|
||||
}
|
||||
|
||||
#throttleValue {
|
||||
font-size: 2.5em;
|
||||
font-weight: bold;
|
||||
color: #3498db;
|
||||
margin-bottom: 20px;
|
||||
}
|
||||
|
||||
#throttleSlider {
|
||||
appearance: none;
|
||||
width: 100%;
|
||||
height: 25px;
|
||||
background: #2c3e50;
|
||||
outline: none;
|
||||
border-radius: 12px;
|
||||
}
|
||||
|
||||
#throttleSlider::-webkit-slider-thumb {
|
||||
-webkit-appearance: none;
|
||||
appearance: none;
|
||||
width: 40px;
|
||||
height: 40px;
|
||||
background: #3498db;
|
||||
cursor: pointer;
|
||||
border-radius: 50%;
|
||||
}
|
||||
|
||||
#throttleSlider::-moz-range-thumb {
|
||||
width: 40px;
|
||||
height: 40px;
|
||||
background: #3498db;
|
||||
cursor: pointer;
|
||||
border-radius: 50%;
|
||||
border: none;
|
||||
}
|
||||
|
||||
.stats {
|
||||
margin-top: 20px;
|
||||
font-size: 1.2em;
|
||||
}
|
||||
|
||||
.stats span {
|
||||
font-weight: bold;
|
||||
color: #e67e22;
|
||||
}
|
||||
|
||||
.warning-text {
|
||||
color: #e74c3c;
|
||||
font-size: 0.9em;
|
||||
margin-top: 10px;
|
||||
font-style: italic;
|
||||
}
|
||||
</style>
|
||||
</head>
|
||||
|
||||
<body>
|
||||
<h1>DShotRMT Web Client</h1>
|
||||
<div class="control-container">
|
||||
<!-- Arming Section -->
|
||||
<div class="arming-section">
|
||||
<div class="arming-switch">
|
||||
<span class="arming-label">ARMING SWITCH</span>
|
||||
<label class="switch">
|
||||
<input type="checkbox" id="armingSwitch">
|
||||
<span class="slider-switch"></span>
|
||||
</label>
|
||||
</div>
|
||||
<div class="arming-status">
|
||||
<span id="armingStatus" class="status-disarmed">DISARMED</span>
|
||||
</div>
|
||||
<div class="warning-text">
|
||||
⚠️ Disabled when disarmed!
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<!-- Throttle Section -->
|
||||
<div class="throttle-section" id="throttleSection">
|
||||
<div id="throttleValue">0</div>
|
||||
<input type="range" min="48" max="2047" value="0" id="throttleSlider" disabled>
|
||||
</div>
|
||||
|
||||
<div class="stats">
|
||||
RPM: <span id="rpmValue">--</span>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<script>
|
||||
const gateway = `ws://${window.location.hostname}/ws`;
|
||||
let websocket;
|
||||
let isArmed = false;
|
||||
|
||||
// Init WebSocket
|
||||
window.addEventListener('load', () => {
|
||||
initWebSocket();
|
||||
});
|
||||
|
||||
function initWebSocket() {
|
||||
console.log('Trying to open a WebSocket connection...');
|
||||
|
||||
websocket = new WebSocket(gateway);
|
||||
websocket.onopen = onOpen;
|
||||
websocket.onclose = onClose;
|
||||
websocket.onmessage = onMessage;
|
||||
}
|
||||
|
||||
function onOpen(event) {
|
||||
console.log('Connection opened');
|
||||
}
|
||||
|
||||
function onClose(event) {
|
||||
console.log('Connection closed');
|
||||
setTimeout(initWebSocket, 2000);
|
||||
}
|
||||
|
||||
// Getting data from sketch
|
||||
function onMessage(event) {
|
||||
try {
|
||||
const data = JSON.parse(event.data);
|
||||
|
||||
if (data.rpm !== undefined) {
|
||||
document.getElementById('rpmValue').innerText = data.rpm;
|
||||
}
|
||||
|
||||
// Sync web and serial throttle inputs
|
||||
if (data.throttle !== undefined) {
|
||||
if (isArmed) {
|
||||
document.getElementById('throttleSlider').value = data.throttle;
|
||||
document.getElementById('throttleValue').innerText = data.throttle;
|
||||
}
|
||||
}
|
||||
|
||||
// Sync arming status if received from ESP32
|
||||
if (data.armed !== undefined) {
|
||||
isArmed = data.armed;
|
||||
updateArmingUI();
|
||||
}
|
||||
|
||||
} catch (e) {
|
||||
console.error("Error parsing JSON: ", e);
|
||||
}
|
||||
}
|
||||
|
||||
// Elements
|
||||
const slider = document.getElementById('throttleSlider');
|
||||
const sliderValue = document.getElementById('throttleValue');
|
||||
const armingSwitch = document.getElementById('armingSwitch');
|
||||
const armingStatus = document.getElementById('armingStatus');
|
||||
const throttleSection = document.getElementById('throttleSection');
|
||||
|
||||
// Arming switch event
|
||||
armingSwitch.addEventListener('change', () => {
|
||||
isArmed = armingSwitch.checked;
|
||||
updateArmingUI();
|
||||
|
||||
// Send arming status to ESP32
|
||||
const message = JSON.stringify({
|
||||
"armed": isArmed,
|
||||
"throttle": isArmed ? parseInt(slider.value) : 0
|
||||
});
|
||||
|
||||
console.log("Sending arming status: ", message);
|
||||
websocket.send(message);
|
||||
|
||||
// If disarmed, set throttle to 0
|
||||
if (!isArmed) {
|
||||
slider.value = 0;
|
||||
sliderValue.innerText = 0;
|
||||
}
|
||||
});
|
||||
|
||||
// Update UI based on arming status
|
||||
function updateArmingUI() {
|
||||
|
||||
// Synch checkbox, as well
|
||||
armingSwitch.checked = isArmed;
|
||||
|
||||
if (isArmed) {
|
||||
armingStatus.innerText = 'ARMED';
|
||||
armingStatus.className = 'status-armed';
|
||||
throttleSection.classList.add('armed');
|
||||
slider.disabled = false;
|
||||
} else {
|
||||
armingStatus.innerText = 'DISARMED';
|
||||
armingStatus.className = 'status-disarmed';
|
||||
throttleSection.classList.remove('armed');
|
||||
slider.disabled = true;
|
||||
slider.value = 0;
|
||||
sliderValue.innerText = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// Throttle slider event
|
||||
slider.addEventListener('input', () => {
|
||||
if (!isArmed) {
|
||||
slider.disabled = true;
|
||||
slider.value = 0;
|
||||
sliderValue.innerText = 0;
|
||||
return;
|
||||
}
|
||||
|
||||
const throttle = slider.value;
|
||||
sliderValue.innerText = throttle;
|
||||
|
||||
const message = JSON.stringify({
|
||||
"throttle": parseInt(throttle),
|
||||
"armed": isArmed
|
||||
});
|
||||
|
||||
console.log("Sending throttle: ", message);
|
||||
websocket.send(message);
|
||||
});
|
||||
|
||||
// Initialize UI
|
||||
updateArmingUI();
|
||||
</script>
|
||||
</body>
|
||||
|
||||
</html>
|
||||
|
||||
)rawliteral";
|
||||
|
||||
//
|
||||
void setup()
|
||||
{
|
||||
|
|
|
|||
|
|
@ -8,5 +8,5 @@ paragraph=This library can control a BlHeli_S by using encoded DShot commands. F
|
|||
category=Signal Input/Output
|
||||
url=https://github.com/derdoktor667/DShotRMT
|
||||
architectures=esp32
|
||||
provides_includes=DShotRMT.h, DShotCommandManager.h, dshot_commands.h, web_content.h
|
||||
provides_includes=DShotRMT.h, DShotCommandManager.h, dshot_commands.h
|
||||
depends=ArduinoJson
|
||||
380
src/DShotRMT.cpp
380
src/DShotRMT.cpp
|
|
@ -8,7 +8,17 @@
|
|||
|
||||
#include "DShotRMT.h"
|
||||
|
||||
// --- HELPERS ---
|
||||
// Static Data & Helper Functions
|
||||
// Timing parameters for each DShot mode
|
||||
// Format: {frame_length_ticks, ticks_per_bit, t1h_ticks, t1l_ticks, t0h_ticks, t0l_ticks}
|
||||
static constexpr dshot_timing_us_t DSHOT_TIMING_US[] = {
|
||||
{0.00, 0.00},
|
||||
{6.67, 5.00},
|
||||
{3.33, 2.50},
|
||||
{1.67, 1.25},
|
||||
{0.83, 0.67}};
|
||||
|
||||
// Helper function to print DShot results
|
||||
void printDShotResult(dshot_result_t &result, Stream &output)
|
||||
{
|
||||
output.printf("Status: %s - %s", result.success ? "SUCCESS" : "FAILED", result.msg);
|
||||
|
|
@ -22,25 +32,14 @@ void printDShotResult(dshot_result_t &result, Stream &output)
|
|||
output.println();
|
||||
}
|
||||
|
||||
// Timing parameters for each DShot mode
|
||||
// Format: {frame_length_ticks, ticks_per_bit, t1h_ticks, t1l_ticks, t0h_ticks, t0l_ticks}
|
||||
static constexpr dshot_timing_us_t DSHOT_TIMING_US[] = {
|
||||
{0.00, 0.00},
|
||||
{6.67, 5.00},
|
||||
{3.33, 2.50},
|
||||
{1.67, 1.25},
|
||||
{0.83, 0.67}
|
||||
};
|
||||
|
||||
// Constructors & Destructor
|
||||
// Constructor with GPIO number
|
||||
DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional)
|
||||
: _gpio(gpio),
|
||||
_mode(mode),
|
||||
_is_bidirectional(is_bidirectional),
|
||||
_last_erpm_atomic(0),
|
||||
_telemetry_ready_flag(false),
|
||||
_frame_timer_us(0),
|
||||
_dshot_timing(DSHOT_TIMING_US[mode]),
|
||||
_frame_timer_us(0),
|
||||
_rmt_ticks{0},
|
||||
_last_throttle(DSHOT_CMD_MOTOR_STOP),
|
||||
_last_transmission_time_us(0),
|
||||
|
|
@ -55,23 +54,13 @@ DShotRMT::DShotRMT(gpio_num_t gpio, dshot_mode_t mode, bool is_bidirectional)
|
|||
_tx_channel_config{},
|
||||
_rx_channel_config{},
|
||||
_transmit_config{},
|
||||
_receive_config{}
|
||||
_receive_config{},
|
||||
_rx_event_callbacks{},
|
||||
_last_erpm_atomic(0),
|
||||
_telemetry_ready_flag_atomic(false)
|
||||
{
|
||||
// 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.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.t1l_ticks = _rmt_ticks.ticks_per_bit - _rmt_ticks.t1h_ticks;
|
||||
_rmt_ticks.t0l_ticks = _rmt_ticks.ticks_per_bit - _rmt_ticks.t0h_ticks;
|
||||
|
||||
// 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;
|
||||
|
||||
// Double frame time for bidirectional mode (includes response time)
|
||||
if (_is_bidirectional)
|
||||
{
|
||||
_frame_timer_us = (_frame_timer_us << 1);
|
||||
}
|
||||
// Configure RMT ticks for DShot timings
|
||||
_configureRMTTiming();
|
||||
}
|
||||
|
||||
// Constructor using pin number
|
||||
|
|
@ -81,10 +70,10 @@ DShotRMT::DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional)
|
|||
// Delegates to primary constructor with type cast
|
||||
}
|
||||
|
||||
// Destructor for "better" code
|
||||
// Destructor
|
||||
DShotRMT::~DShotRMT()
|
||||
{
|
||||
// ...TX
|
||||
// Cleanup TX channel
|
||||
if (_rmt_tx_channel)
|
||||
{
|
||||
if (rmt_disable(_rmt_tx_channel) == DSHOT_OK)
|
||||
|
|
@ -94,7 +83,7 @@ DShotRMT::~DShotRMT()
|
|||
}
|
||||
}
|
||||
|
||||
// ...RX
|
||||
// Cleanup RX channel
|
||||
if (_rmt_rx_channel)
|
||||
{
|
||||
if (rmt_disable(_rmt_rx_channel) == DSHOT_OK)
|
||||
|
|
@ -104,7 +93,7 @@ DShotRMT::~DShotRMT()
|
|||
}
|
||||
}
|
||||
|
||||
// ...Encoder
|
||||
// Cleanup encoder
|
||||
if (_dshot_encoder)
|
||||
{
|
||||
rmt_del_encoder(_dshot_encoder);
|
||||
|
|
@ -112,10 +101,12 @@ DShotRMT::~DShotRMT()
|
|||
}
|
||||
}
|
||||
|
||||
// Init DShotRMT
|
||||
|
||||
// Public Core Functions
|
||||
// Initialize DShotRMT
|
||||
dshot_result_t DShotRMT::begin()
|
||||
{
|
||||
// Init RX channel first
|
||||
// Init RX channel first (for bidirectional mode)
|
||||
if (_is_bidirectional)
|
||||
{
|
||||
if (!_initRXChannel().success)
|
||||
|
|
@ -142,104 +133,6 @@ dshot_result_t DShotRMT::begin()
|
|||
return {true, INIT_SUCCESS};
|
||||
}
|
||||
|
||||
// Init RMT TX channel
|
||||
dshot_result_t DShotRMT::_initTXChannel()
|
||||
{
|
||||
// Configure TX channel
|
||||
_tx_channel_config.gpio_num = _gpio;
|
||||
_tx_channel_config.clk_src = DSHOT_CLOCK_SRC_DEFAULT;
|
||||
_tx_channel_config.resolution_hz = DSHOT_RMT_RESOLUTION;
|
||||
_tx_channel_config.mem_block_symbols = RMT_BUFFER_SYMBOLS;
|
||||
_tx_channel_config.trans_queue_depth = RMT_QUEUE_DEPTH;
|
||||
|
||||
// Config RMT TX
|
||||
_transmit_config.loop_count = 0; // No automatic loops - real-time calculation
|
||||
_transmit_config.flags.eot_level = _is_bidirectional ? 1 : 0; // Telemetric Bit used as bidir flag
|
||||
|
||||
// Create RMT TX channel
|
||||
if (rmt_new_tx_channel(&_tx_channel_config, &_rmt_tx_channel) != DSHOT_OK)
|
||||
{
|
||||
return {false, TX_INIT_FAILED};
|
||||
}
|
||||
|
||||
//
|
||||
if (rmt_enable(_rmt_tx_channel) != DSHOT_OK)
|
||||
{
|
||||
return {false, TX_INIT_FAILED};
|
||||
}
|
||||
|
||||
return {true, TX_INIT_SUCCESS};
|
||||
}
|
||||
|
||||
// Init RMT RX channel
|
||||
dshot_result_t DShotRMT::_initRXChannel()
|
||||
{
|
||||
// Direct RMT symbol processing - Performance optimized
|
||||
_rx_event_callbacks.on_recv_done = _rmt_rx_done_callback;
|
||||
|
||||
// Config RMT RX
|
||||
_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 = RMT_BUFFER_SYMBOLS;
|
||||
|
||||
// Config RMT RX parameters
|
||||
_receive_config.signal_range_min_ns = DSHOT_PULSE_MIN;
|
||||
_receive_config.signal_range_max_ns = DSHOT_PULSE_MAX;
|
||||
|
||||
// Create RMT RX channel
|
||||
if (rmt_new_rx_channel(&_rx_channel_config, &_rmt_rx_channel) != DSHOT_OK)
|
||||
{
|
||||
return {false, RX_INIT_FAILED};
|
||||
}
|
||||
|
||||
//
|
||||
if (rmt_enable(_rmt_rx_channel) != DSHOT_OK)
|
||||
{
|
||||
return {false, RX_INIT_FAILED};
|
||||
}
|
||||
|
||||
return {true, RX_INIT_SUCCESS};
|
||||
}
|
||||
|
||||
// Callback for RMT RX
|
||||
bool DShotRMT::_rmt_rx_done_callback(rmt_channel_handle_t rmt_rx_channel, const rmt_rx_done_event_data_t *edata, void *user_data)
|
||||
{
|
||||
DShotRMT *instance = static_cast<DShotRMT *>(user_data);
|
||||
|
||||
// ISR check for valid data
|
||||
if (edata && edata->num_symbols >= GCR_BITS_PER_FRAME && edata->num_symbols <= GCR_BITS_PER_FRAME)
|
||||
{
|
||||
|
||||
// Direct decoding
|
||||
uint16_t erpm = instance->_decodeDShotFrame(edata->received_symbols);
|
||||
|
||||
if (erpm != DSHOT_NULL_PACKET)
|
||||
{
|
||||
// Atomic writes - thread-safe
|
||||
instance->_last_erpm_atomic = erpm;
|
||||
instance->_telemetry_ready_flag = true;
|
||||
}
|
||||
}
|
||||
|
||||
return false;
|
||||
}
|
||||
|
||||
// Initialize DShot encoder
|
||||
dshot_result_t DShotRMT::_initDShotEncoder()
|
||||
{
|
||||
// Create copy encoder configuration
|
||||
rmt_copy_encoder_config_t encoder_config = {};
|
||||
|
||||
// Create encoder instance
|
||||
if (rmt_new_copy_encoder(&encoder_config, &_dshot_encoder) != DSHOT_OK)
|
||||
{
|
||||
return {false, ENCODER_INIT_FAILED};
|
||||
}
|
||||
|
||||
return {true, TX_INIT_SUCCESS};
|
||||
}
|
||||
|
||||
// Send throttle value
|
||||
dshot_result_t DShotRMT::sendThrottle(uint16_t throttle)
|
||||
{
|
||||
|
|
@ -288,14 +181,14 @@ dshot_result_t DShotRMT::getTelemetry(uint16_t magnet_count)
|
|||
return result;
|
||||
}
|
||||
|
||||
//
|
||||
if (_telemetry_ready_flag)
|
||||
// Check for new telemetry data
|
||||
if (_telemetry_ready_flag_atomic)
|
||||
{
|
||||
_telemetry_ready_flag = false;
|
||||
_telemetry_ready_flag_atomic = false;
|
||||
|
||||
uint16_t erpm = _last_erpm_atomic;
|
||||
|
||||
//
|
||||
// Calculate motor RPM from eRPM
|
||||
if (erpm != DSHOT_NULL_PACKET && magnet_count >= 1)
|
||||
{
|
||||
uint8_t pole_pairs = max(POLE_PAIRS_MIN, (magnet_count / MAGNETS_PER_POLE_PAIR));
|
||||
|
|
@ -311,6 +204,131 @@ dshot_result_t DShotRMT::getTelemetry(uint16_t magnet_count)
|
|||
return result;
|
||||
}
|
||||
|
||||
// Public Info & Debug Functions
|
||||
// Print timing diagnostic information to specified stream
|
||||
void DShotRMT::printDShotInfo(Stream &output) const
|
||||
{
|
||||
output.println(" ");
|
||||
output.println(" === DShot Signal Info === ");
|
||||
|
||||
// Current DShot mode
|
||||
output.printf("Current Mode: DSHOT%d\n",
|
||||
_mode == DSHOT150 ? 150 :
|
||||
_mode == DSHOT300 ? 300 :
|
||||
_mode == DSHOT600 ? 600 :
|
||||
_mode == DSHOT1200 ? 1200 : 0);
|
||||
|
||||
output.printf("Bidirectional: %s\n", _is_bidirectional ? "YES" : "NO");
|
||||
|
||||
// Packet Info
|
||||
output.printf("Current Packet: ");
|
||||
|
||||
// Print bit by bit
|
||||
for (int i = DSHOT_BITS_PER_FRAME - 1; i >= 0; --i)
|
||||
{
|
||||
if ((_parsed_packet >> i) & 1)
|
||||
{
|
||||
output.print("1");
|
||||
}
|
||||
else
|
||||
{
|
||||
output.print("0");
|
||||
}
|
||||
}
|
||||
output.printf("\n");
|
||||
|
||||
output.printf("Current Value: %u\n", _packet.throttle_value);
|
||||
}
|
||||
|
||||
// Print CPU information
|
||||
void DShotRMT::printCpuInfo(Stream &output) const
|
||||
{
|
||||
output.println(" ");
|
||||
output.println(" === CPU Info === ");
|
||||
output.printf("Chip Model: %s\n", ESP.getChipModel());
|
||||
output.printf("Chip Revision: %d\n", ESP.getChipRevision());
|
||||
output.printf("CPU Freq = %lu MHz\n", ESP.getCpuFreqMHz());
|
||||
output.printf("XTAL Freq = %lu MHz\n", getXtalFrequencyMhz());
|
||||
output.printf("APB Freq = %lu Hz\n", getApbFrequency());
|
||||
}
|
||||
|
||||
// Private Initialization Functions
|
||||
// Initialize RMT TX channel
|
||||
dshot_result_t DShotRMT::_initTXChannel()
|
||||
{
|
||||
// Configure TX channel
|
||||
_tx_channel_config.gpio_num = _gpio;
|
||||
_tx_channel_config.clk_src = DSHOT_CLOCK_SRC_DEFAULT;
|
||||
_tx_channel_config.resolution_hz = DSHOT_RMT_RESOLUTION;
|
||||
_tx_channel_config.mem_block_symbols = RMT_BUFFER_SYMBOLS;
|
||||
_tx_channel_config.trans_queue_depth = RMT_QUEUE_DEPTH;
|
||||
|
||||
// Config RMT TX
|
||||
_transmit_config.loop_count = 0; // No automatic loops - real-time calculation
|
||||
_transmit_config.flags.eot_level = _is_bidirectional ? 1 : 0; // Telemetric Bit used as bidir flag
|
||||
|
||||
// Create RMT TX channel
|
||||
if (rmt_new_tx_channel(&_tx_channel_config, &_rmt_tx_channel) != DSHOT_OK)
|
||||
{
|
||||
return {false, TX_INIT_FAILED};
|
||||
}
|
||||
|
||||
// Enable TX channel
|
||||
if (rmt_enable(_rmt_tx_channel) != DSHOT_OK)
|
||||
{
|
||||
return {false, TX_INIT_FAILED};
|
||||
}
|
||||
|
||||
return {true, TX_INIT_SUCCESS};
|
||||
}
|
||||
|
||||
// Initialize RMT RX channel
|
||||
dshot_result_t DShotRMT::_initRXChannel()
|
||||
{
|
||||
// Direct RMT symbol processing - Performance optimized
|
||||
_rx_event_callbacks.on_recv_done = _rmt_rx_done_callback;
|
||||
|
||||
// Config RMT RX
|
||||
_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 = RMT_BUFFER_SYMBOLS;
|
||||
|
||||
// Config RMT RX parameters
|
||||
_receive_config.signal_range_min_ns = DSHOT_PULSE_MIN;
|
||||
_receive_config.signal_range_max_ns = DSHOT_PULSE_MAX;
|
||||
|
||||
// Create RMT RX channel
|
||||
if (rmt_new_rx_channel(&_rx_channel_config, &_rmt_rx_channel) != DSHOT_OK)
|
||||
{
|
||||
return {false, RX_INIT_FAILED};
|
||||
}
|
||||
|
||||
// Enable RX channel
|
||||
if (rmt_enable(_rmt_rx_channel) != DSHOT_OK)
|
||||
{
|
||||
return {false, RX_INIT_FAILED};
|
||||
}
|
||||
|
||||
return {true, RX_INIT_SUCCESS};
|
||||
}
|
||||
|
||||
// Initialize DShot encoder
|
||||
dshot_result_t DShotRMT::_initDShotEncoder()
|
||||
{
|
||||
// Create copy encoder configuration
|
||||
rmt_copy_encoder_config_t encoder_config = {};
|
||||
|
||||
// Create encoder instance
|
||||
if (rmt_new_copy_encoder(&encoder_config, &_dshot_encoder) != DSHOT_OK)
|
||||
{
|
||||
return {false, ENCODER_INIT_FAILED};
|
||||
}
|
||||
|
||||
return {true, TX_INIT_SUCCESS};
|
||||
}
|
||||
|
||||
// Private Packet Management Functions
|
||||
// Build a complete DShot packet
|
||||
dshot_packet_t DShotRMT::_buildDShotPacket(const uint16_t &value)
|
||||
{
|
||||
|
|
@ -361,7 +379,27 @@ uint16_t DShotRMT::_calculateCRC(const uint16_t data)
|
|||
return crc;
|
||||
}
|
||||
|
||||
// Per calculate bits - Performance optimized
|
||||
// Configure RMT ticks for DShot timings
|
||||
void DShotRMT::_configureRMTTiming()
|
||||
{
|
||||
// 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.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.t1l_ticks = _rmt_ticks.ticks_per_bit - _rmt_ticks.t1h_ticks;
|
||||
_rmt_ticks.t0l_ticks = _rmt_ticks.ticks_per_bit - _rmt_ticks.t0h_ticks;
|
||||
|
||||
// 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;
|
||||
|
||||
// Double frame time for bidirectional mode (includes response time)
|
||||
if (_is_bidirectional)
|
||||
{
|
||||
_frame_timer_us = (_frame_timer_us << 1);
|
||||
}
|
||||
}
|
||||
|
||||
// Precalculate bit positions for performance optimization
|
||||
void DShotRMT::_preCalculateBitPositions()
|
||||
{
|
||||
for (int i = 0; i < DSHOT_BITS_PER_FRAME; ++i)
|
||||
|
|
@ -370,6 +408,7 @@ void DShotRMT::_preCalculateBitPositions()
|
|||
}
|
||||
}
|
||||
|
||||
// Private Frame Processing Functions
|
||||
// Transmit DShot packet via RMT
|
||||
dshot_result_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
|
||||
{
|
||||
|
|
@ -379,7 +418,7 @@ dshot_result_t DShotRMT::_sendDShotFrame(const dshot_packet_t &packet)
|
|||
return {false, TIMING_CORRECTION};
|
||||
}
|
||||
|
||||
// Enable RMT RX before RMT TX
|
||||
// Enable RMT RX before RMT TX (bidirectional mode)
|
||||
if (_is_bidirectional)
|
||||
{
|
||||
// Calculate transmission data size
|
||||
|
|
@ -442,7 +481,7 @@ bool DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t
|
|||
// Decode MSB
|
||||
for (int i = 0; i < DSHOT_BITS_PER_FRAME; ++i)
|
||||
{
|
||||
// Use precalculated bit positions - Performace optimized
|
||||
// Use precalculated bit positions - Performance optimized
|
||||
int bit_position = _bitPositions[i];
|
||||
|
||||
bool bit = (_parsed_packet >> bit_position) & 0b0000000000000001;
|
||||
|
|
@ -455,7 +494,7 @@ bool DShotRMT::_encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t
|
|||
return DSHOT_OK;
|
||||
}
|
||||
|
||||
// Decodes a DShot telemetry frame from received RMT symbols.
|
||||
// Decode DShot telemetry frame from received RMT symbols
|
||||
uint16_t DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
|
||||
{
|
||||
uint32_t gcr_value = 0;
|
||||
|
|
@ -476,10 +515,8 @@ uint16_t DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
|
|||
// The first bit of the GCR frame is a start bit and is discarded.
|
||||
uint16_t data_and_crc = (decoded_frame & DSHOT_FULL_PACKET);
|
||||
|
||||
// Cutting 4 bits?
|
||||
// Extract data (first 12 bits) and CRC (last 4 bits)
|
||||
uint16_t received_data = data_and_crc >> 4;
|
||||
|
||||
// Masking CRC
|
||||
uint16_t received_crc = data_and_crc & DSHOT_CRC_MASK;
|
||||
|
||||
// Telemetry request bit has to be 1
|
||||
|
|
@ -502,6 +539,7 @@ uint16_t DShotRMT::_decodeDShotFrame(const rmt_symbol_word_t *symbols)
|
|||
return received_data & DSHOT_THROTTLE_MAX;
|
||||
}
|
||||
|
||||
// Private Timing Control Functions
|
||||
// Check if enough time has passed for next transmission
|
||||
bool DShotRMT::_timer_signal()
|
||||
{
|
||||
|
|
@ -521,49 +559,25 @@ bool DShotRMT::_timer_reset()
|
|||
return DSHOT_OK;
|
||||
}
|
||||
|
||||
// Print timing diagnostic information to specified stream
|
||||
void DShotRMT::printDShotInfo(Stream &output) const
|
||||
// Static Callback Functions
|
||||
// Callback for RMT RX
|
||||
bool DShotRMT::_rmt_rx_done_callback(rmt_channel_handle_t rmt_rx_channel, const rmt_rx_done_event_data_t *edata, void *user_data)
|
||||
{
|
||||
output.println(" ");
|
||||
output.println(" === DShot Signal Info === ");
|
||||
DShotRMT *instance = static_cast<DShotRMT *>(user_data);
|
||||
|
||||
// Current DShot mode
|
||||
output.printf("Current Mode: DSHOT%d\n",
|
||||
_mode == DSHOT150 ? 150 :
|
||||
_mode == DSHOT300 ? 300 :
|
||||
_mode == DSHOT600 ? 600 :
|
||||
_mode == DSHOT1200 ? 1200 : 0);
|
||||
|
||||
output.printf("Bidirectional: %s\n", _is_bidirectional ? "YES" : "NO");
|
||||
|
||||
// Packet Info
|
||||
output.printf("Current Packet: ");
|
||||
|
||||
// Print bit by bit
|
||||
for (int i = DSHOT_BITS_PER_FRAME - 1; i >= 0; --i)
|
||||
// ISR check for valid data
|
||||
if (edata && edata->num_symbols >= GCR_BITS_PER_FRAME && edata->num_symbols <= GCR_BITS_PER_FRAME)
|
||||
{
|
||||
if ((_parsed_packet >> i) & 1)
|
||||
// Direct decoding
|
||||
uint16_t erpm = instance->_decodeDShotFrame(edata->received_symbols);
|
||||
|
||||
if (erpm != DSHOT_NULL_PACKET)
|
||||
{
|
||||
output.print("1");
|
||||
}
|
||||
else
|
||||
{
|
||||
output.print("0");
|
||||
// Atomic writes - thread-safe
|
||||
instance->_last_erpm_atomic = erpm;
|
||||
instance->_telemetry_ready_flag_atomic = true;
|
||||
}
|
||||
}
|
||||
output.printf("\n");
|
||||
|
||||
output.printf("Current Value: %u\n", _packet.throttle_value);
|
||||
}
|
||||
|
||||
// Print CPU information
|
||||
void DShotRMT::printCpuInfo(Stream &output) const
|
||||
{
|
||||
output.println(" ");
|
||||
output.println(" === CPU Info === ");
|
||||
output.printf("Chip Model: %s\n", ESP.getChipModel());
|
||||
output.printf("Chip Revision: %d\n", ESP.getChipRevision());
|
||||
output.printf("CPU Freq = %lu MHz\n", ESP.getCpuFreqMHz());
|
||||
output.printf("XTAL Freq = %lu MHz\n", getXtalFrequencyMhz());
|
||||
output.printf("APB Freq = %lu Hz\n", getApbFrequency());
|
||||
return false;
|
||||
}
|
||||
|
|
|
|||
188
src/DShotRMT.h
188
src/DShotRMT.h
|
|
@ -10,12 +10,12 @@
|
|||
|
||||
#include <Arduino.h>
|
||||
#include <dshot_commands.h>
|
||||
#include <web_content.h>
|
||||
#include <driver/gpio.h>
|
||||
#include <driver/rmt_tx.h>
|
||||
#include <driver/rmt_rx.h>
|
||||
#include <atomic>
|
||||
|
||||
// DShot Protocol Constants
|
||||
// DShot Protocol Constants & Types
|
||||
static constexpr auto DSHOT_THROTTLE_FAILSAFE = 0;
|
||||
static constexpr auto DSHOT_THROTTLE_MIN = 48;
|
||||
static constexpr auto DSHOT_THROTTLE_MAX = 2047;
|
||||
|
|
@ -32,7 +32,7 @@ typedef enum
|
|||
DSHOT1200
|
||||
} dshot_mode_t;
|
||||
|
||||
// DShot Packet
|
||||
// DShot Packet Structure
|
||||
typedef struct
|
||||
{
|
||||
uint16_t throttle_value : 11;
|
||||
|
|
@ -40,14 +40,14 @@ typedef struct
|
|||
uint16_t checksum : 4;
|
||||
} dshot_packet_t;
|
||||
|
||||
// DShot Timings
|
||||
// DShot Timing Configuration
|
||||
typedef struct
|
||||
{
|
||||
double bit_length_us;
|
||||
double t1h_lenght_us;
|
||||
} dshot_timing_us_t;
|
||||
|
||||
// RMT Ticks Configuration
|
||||
// RMT Timing Configuration
|
||||
typedef struct
|
||||
{
|
||||
uint16_t ticks_per_bit;
|
||||
|
|
@ -57,7 +57,7 @@ typedef struct
|
|||
uint16_t t0l_ticks;
|
||||
} rmt_ticks_t;
|
||||
|
||||
// Unified DShot result structure
|
||||
// Unified DShot Result Structure
|
||||
typedef struct
|
||||
{
|
||||
bool success;
|
||||
|
|
@ -66,25 +66,23 @@ typedef struct
|
|||
uint16_t motor_rpm;
|
||||
} dshot_result_t;
|
||||
|
||||
// Naming convention
|
||||
// Command Type Alias
|
||||
typedef dshotCommands_e dshot_commands_t;
|
||||
|
||||
// --- HELPERS ---
|
||||
// Helper Functions
|
||||
void printDShotResult(dshot_result_t &result, Stream &output = Serial);
|
||||
|
||||
//
|
||||
// DShotRMT Main Class
|
||||
class DShotRMT
|
||||
{
|
||||
public:
|
||||
// Constructor with GPIO enum
|
||||
// Constructors & Destructor
|
||||
explicit DShotRMT(gpio_num_t gpio = GPIO_NUM_16, dshot_mode_t mode = DSHOT300, bool is_bidirectional = false);
|
||||
|
||||
// Constructor with pin number
|
||||
DShotRMT(uint16_t pin_nr, dshot_mode_t mode, bool is_bidirectional);
|
||||
|
||||
// Destructor for "better" code
|
||||
~DShotRMT();
|
||||
|
||||
// Public Core Functions
|
||||
// Initialize the RMT module and DShot config
|
||||
dshot_result_t begin();
|
||||
|
||||
|
|
@ -94,18 +92,20 @@ public:
|
|||
// Send DShot command (0-47)
|
||||
dshot_result_t sendCommand(uint16_t command);
|
||||
|
||||
// --- GETTERS ---
|
||||
// Get telemetry data (bidirectional mode only)
|
||||
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; }
|
||||
dshot_result_t getTelemetry(uint16_t magnet_count = DEFAULT_MOTOR_MAGNET_COUNT);
|
||||
|
||||
// --- INFO ---
|
||||
// Public Info & Debug Functions
|
||||
void printDShotInfo(Stream &output = Serial) const;
|
||||
void printCpuInfo(Stream &output = Serial) const;
|
||||
|
||||
// --- DEPRECATED METHODS ---
|
||||
// Deprecated Methods
|
||||
[[deprecated("Use sendThrottle() instead")]]
|
||||
bool setThrottle(uint16_t throttle)
|
||||
{
|
||||
|
|
@ -128,67 +128,30 @@ public:
|
|||
}
|
||||
|
||||
private:
|
||||
// --- CONFIG ---
|
||||
gpio_num_t _gpio;
|
||||
dshot_mode_t _mode;
|
||||
bool _is_bidirectional;
|
||||
uint32_t _frame_timer_us;
|
||||
rmt_ticks_t _rmt_ticks;
|
||||
const dshot_timing_us_t &_dshot_timing;
|
||||
uint16_t _last_throttle;
|
||||
|
||||
// --- TIMING & PACKET VARIABLES ---
|
||||
uint64_t _last_transmission_time_us;
|
||||
uint16_t _parsed_packet;
|
||||
dshot_packet_t _packet;
|
||||
uint8_t _bitPositions[DSHOT_BITS_PER_FRAME];
|
||||
uint16_t _level0;
|
||||
uint16_t _level1;
|
||||
|
||||
// --- RMT HARDWARE HANDLES ---
|
||||
rmt_channel_handle_t _rmt_tx_channel;
|
||||
rmt_channel_handle_t _rmt_rx_channel;
|
||||
rmt_encoder_handle_t _dshot_encoder;
|
||||
|
||||
// --- RMT CONFIG STRUCTURES ---
|
||||
rmt_tx_channel_config_t _tx_channel_config;
|
||||
rmt_rx_channel_config_t _rx_channel_config;
|
||||
rmt_transmit_config_t _transmit_config;
|
||||
rmt_receive_config_t _receive_config;
|
||||
|
||||
// --- INITS ---
|
||||
dshot_result_t _initTXChannel();
|
||||
dshot_result_t _initRXChannel();
|
||||
dshot_result_t _initDShotEncoder();
|
||||
|
||||
// --- PACKET MANAGEMENT ---
|
||||
dshot_packet_t _buildDShotPacket(const uint16_t &value);
|
||||
uint16_t _parseDShotPacket(const dshot_packet_t &packet);
|
||||
uint16_t _calculateCRC(const uint16_t data);
|
||||
void _preCalculateBitPositions();
|
||||
|
||||
// --- FRAME PROCESSING ---
|
||||
dshot_result_t _sendDShotFrame(const dshot_packet_t &packet);
|
||||
bool IRAM_ATTR _encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols);
|
||||
uint16_t _decodeDShotFrame(const rmt_symbol_word_t *symbols);
|
||||
|
||||
// --- TIMING CONTROL ---
|
||||
bool IRAM_ATTR _timer_signal();
|
||||
bool _timer_reset();
|
||||
|
||||
// -- CALLBACKS ---
|
||||
rmt_rx_event_callbacks_t _rx_event_callbacks;
|
||||
volatile uint16_t _last_erpm_atomic;
|
||||
volatile bool _telemetry_ready_flag;
|
||||
static bool IRAM_ATTR _rmt_rx_done_callback(rmt_channel_handle_t rmt_rx_channel, const rmt_rx_done_event_data_t *edata, void *user_data);
|
||||
|
||||
// --- DSHOT DEFAULTS ---
|
||||
static constexpr auto const DSHOT_TELEMETRY_INVALID = 0b1111111111111111;
|
||||
|
||||
// --- CONSTANTS & ERROR MESSAGES ---
|
||||
// Configuration Constants
|
||||
static constexpr bool DSHOT_OK = 0;
|
||||
static constexpr bool DSHOT_ERROR = 1;
|
||||
|
||||
static constexpr auto const DSHOT_NULL_PACKET = 0b0000000000000000;
|
||||
static constexpr auto const DSHOT_FULL_PACKET = 0b1111111111111111;
|
||||
static constexpr auto const DSHOT_CRC_MASK = 0b0000000000001111;
|
||||
static constexpr auto const DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
|
||||
static constexpr auto const DSHOT_RMT_RESOLUTION = 8 * 1000 * 1000; // 8 MHz resolution
|
||||
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 DSHOT_RX_TIMEOUT_MS = 2;
|
||||
static constexpr auto const DSHOT_PADDING_US = 3;
|
||||
static constexpr auto const RMT_BUFFER_SYMBOLS = 64;
|
||||
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 POLE_PAIRS_MIN = 1;
|
||||
static constexpr auto const MAGNETS_PER_POLE_PAIR = 2;
|
||||
static constexpr auto const NO_DSHOT_TELEMETRY = 0;
|
||||
static constexpr auto const DSHOT_PULSE_MIN = 3000; // 3us minimum pulse
|
||||
static constexpr auto const DSHOT_PULSE_MAX = 60000; // 60us maximum pulse
|
||||
static constexpr auto const DSHOT_TELEMETRY_INVALID = 0b1111111111111111;
|
||||
|
||||
// Error Messages
|
||||
static constexpr char const *NONE = "";
|
||||
static constexpr char const *UNKNOWN_ERROR = "Unknown Error!";
|
||||
static constexpr char const *INIT_SUCCESS = "SignalGeneratorRMT initialized successfully";
|
||||
|
|
@ -211,25 +174,60 @@ private:
|
|||
static constexpr char const *INVALID_MAGNET_COUNT = "Invalid motor magnet count!";
|
||||
static constexpr char const *TIMING_CORRECTION = "Timing correction!";
|
||||
|
||||
// Configuration Constants
|
||||
static constexpr auto const DSHOT_NULL_PACKET = 0b0000000000000000;
|
||||
static constexpr auto const DSHOT_FULL_PACKET = 0b1111111111111111;
|
||||
static constexpr auto const DSHOT_CRC_MASK = 0b0000000000001111;
|
||||
static constexpr auto const DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
|
||||
static constexpr auto const DSHOT_RMT_RESOLUTION = 8 * 1000 * 1000; // 8 MHz resolution
|
||||
static constexpr auto const RMT_TICKS_PER_US = DSHOT_RMT_RESOLUTION / (1 * 1000 * 1000); // RMT Ticks per microsecond, based on the RMT resolution in MHz
|
||||
static constexpr auto const RMT_BUFFER_SIZE = DSHOT_BITS_PER_FRAME;
|
||||
static constexpr auto const DSHOT_RX_TIMEOUT_MS = 2; // Never reached
|
||||
static constexpr auto const DSHOT_PADDING_US = 3;
|
||||
static constexpr auto const RMT_BUFFER_SYMBOLS = 64;
|
||||
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 (1 start + 16 data + 4 CRC)
|
||||
static constexpr auto const POLE_PAIRS_MIN = 1;
|
||||
static constexpr auto const MAGNETS_PER_POLE_PAIR = 2;
|
||||
static constexpr auto const NO_DSHOT_TELEMETRY = 0;
|
||||
// Core Configuration Variables
|
||||
gpio_num_t _gpio;
|
||||
dshot_mode_t _mode;
|
||||
bool _is_bidirectional;
|
||||
const dshot_timing_us_t &_dshot_timing;
|
||||
uint32_t _frame_timer_us;
|
||||
|
||||
// Smallest pulse for DShot1200 is 2us. Largest for DShot150 is 40us.
|
||||
// The range is set from 3us (3000ns) to 60us (60000ns) to be safe across all modes.
|
||||
static constexpr auto const DSHOT_PULSE_MIN = 3000;
|
||||
static constexpr auto const DSHOT_PULSE_MAX = 60000;
|
||||
// Timing & Packet Variables
|
||||
rmt_ticks_t _rmt_ticks;
|
||||
uint16_t _last_throttle;
|
||||
uint64_t _last_transmission_time_us;
|
||||
uint16_t _parsed_packet;
|
||||
dshot_packet_t _packet;
|
||||
uint8_t _bitPositions[DSHOT_BITS_PER_FRAME];
|
||||
uint16_t _level0;
|
||||
uint16_t _level1;
|
||||
|
||||
// RMT Hardware Handles
|
||||
rmt_channel_handle_t _rmt_tx_channel;
|
||||
rmt_channel_handle_t _rmt_rx_channel;
|
||||
rmt_encoder_handle_t _dshot_encoder;
|
||||
|
||||
// RMT Configuration Structures
|
||||
rmt_tx_channel_config_t _tx_channel_config;
|
||||
rmt_rx_channel_config_t _rx_channel_config;
|
||||
rmt_transmit_config_t _transmit_config;
|
||||
rmt_receive_config_t _receive_config;
|
||||
|
||||
// Bidirectional / Telemetry Variables
|
||||
rmt_rx_event_callbacks_t _rx_event_callbacks;
|
||||
std::atomic<uint16_t> _last_erpm_atomic;
|
||||
std::atomic<bool> _telemetry_ready_flag_atomic;
|
||||
|
||||
// Private Initialization Functions
|
||||
dshot_result_t _initTXChannel();
|
||||
dshot_result_t _initRXChannel();
|
||||
dshot_result_t _initDShotEncoder();
|
||||
|
||||
// Private Packet Management Functions
|
||||
dshot_packet_t _buildDShotPacket(const uint16_t &value);
|
||||
uint16_t _parseDShotPacket(const dshot_packet_t &packet);
|
||||
uint16_t _calculateCRC(const uint16_t data);
|
||||
void _configureRMTTiming();
|
||||
void _preCalculateBitPositions();
|
||||
|
||||
// Private Frame Processing Functions
|
||||
dshot_result_t _sendDShotFrame(const dshot_packet_t &packet);
|
||||
bool IRAM_ATTR _encodeDShotFrame(const dshot_packet_t &packet, rmt_symbol_word_t *symbols);
|
||||
uint16_t _decodeDShotFrame(const rmt_symbol_word_t *symbols);
|
||||
|
||||
// Private Timing Control Functions
|
||||
bool IRAM_ATTR _timer_signal();
|
||||
bool _timer_reset();
|
||||
|
||||
// Static Callback Functions
|
||||
static bool IRAM_ATTR _rmt_rx_done_callback(rmt_channel_handle_t rmt_rx_channel, const rmt_rx_done_event_data_t *edata, void *user_data);
|
||||
};
|
||||
|
|
|
|||
|
|
@ -1,361 +0,0 @@
|
|||
/**
|
||||
* @file web_content.h
|
||||
* @brief DShotRMT_Control Website content with Arming Switch
|
||||
* @author Wastl Kraus
|
||||
* @date 2025-09-09
|
||||
* @license MIT
|
||||
*/
|
||||
|
||||
#pragma once
|
||||
|
||||
// Web Site Content
|
||||
const char index_html[] PROGMEM = R"rawliteral(
|
||||
<!DOCTYPE html>
|
||||
<html lang="de">
|
||||
|
||||
<head>
|
||||
<meta charset="UTF-8">
|
||||
<meta name="viewport" content="width=device-width, initial-scale=1.0, maximum-scale=1.0, user-scalable=no">
|
||||
<title>DShotRMT Web Client</title>
|
||||
<style>
|
||||
body {
|
||||
font-family: -apple-system, BlinkMacSystemFont, "Segoe UI", Roboto, "Helvetica Neue", Arial, sans-serif;
|
||||
display: flex;
|
||||
flex-direction: column;
|
||||
align-items: center;
|
||||
background-color: #2c3e50;
|
||||
color: #ecf0f1;
|
||||
margin: 0;
|
||||
height: 100dvh;
|
||||
justify-content: center;
|
||||
}
|
||||
|
||||
h1 {
|
||||
font-size: 1.5em;
|
||||
font-weight: bold;
|
||||
margin-bottom: 20px;
|
||||
}
|
||||
|
||||
.control-container {
|
||||
background-color: #34495e;
|
||||
padding: 30px;
|
||||
border-radius: 12px;
|
||||
box-shadow: 0 4px 8px rgba(0, 0, 0, 0.2);
|
||||
text-align: center;
|
||||
width: 85%;
|
||||
max-width: 500px;
|
||||
}
|
||||
|
||||
/* Arming Switch Styles */
|
||||
.arming-section {
|
||||
margin-bottom: 25px;
|
||||
padding: 15px;
|
||||
background-color: #2c3e50;
|
||||
border-radius: 8px;
|
||||
border: 2px solid #e74c3c;
|
||||
}
|
||||
|
||||
.arming-switch {
|
||||
display: flex;
|
||||
align-items: center;
|
||||
justify-content: center;
|
||||
gap: 15px;
|
||||
margin-bottom: 10px;
|
||||
}
|
||||
|
||||
.switch {
|
||||
position: relative;
|
||||
display: inline-block;
|
||||
width: 60px;
|
||||
height: 34px;
|
||||
}
|
||||
|
||||
.switch input {
|
||||
opacity: 0;
|
||||
width: 0;
|
||||
height: 0;
|
||||
}
|
||||
|
||||
.slider-switch {
|
||||
position: absolute;
|
||||
cursor: pointer;
|
||||
top: 0;
|
||||
left: 0;
|
||||
right: 0;
|
||||
bottom: 0;
|
||||
background-color: #e74c3c;
|
||||
-webkit-transition: .4s;
|
||||
transition: .4s;
|
||||
border-radius: 34px;
|
||||
}
|
||||
|
||||
.slider-switch:before {
|
||||
position: absolute;
|
||||
content: "";
|
||||
height: 26px;
|
||||
width: 26px;
|
||||
left: 4px;
|
||||
bottom: 4px;
|
||||
background-color: white;
|
||||
-webkit-transition: .4s;
|
||||
transition: .4s;
|
||||
border-radius: 50%;
|
||||
}
|
||||
|
||||
input:checked+.slider-switch {
|
||||
background-color: #27ae60;
|
||||
}
|
||||
|
||||
input:checked+.slider-switch:before {
|
||||
-webkit-transform: translateX(26px);
|
||||
-ms-transform: translateX(26px);
|
||||
transform: translateX(26px);
|
||||
}
|
||||
|
||||
.arming-label {
|
||||
font-size: 1.2em;
|
||||
font-weight: bold;
|
||||
}
|
||||
|
||||
.arming-status {
|
||||
font-size: 0.9em;
|
||||
margin-top: 5px;
|
||||
}
|
||||
|
||||
.status-disarmed {
|
||||
color: #e74c3c;
|
||||
}
|
||||
|
||||
.status-armed {
|
||||
color: #27ae60;
|
||||
}
|
||||
|
||||
/* Throttle Section */
|
||||
.throttle-section {
|
||||
opacity: 0.3;
|
||||
transition: opacity 0.3s ease;
|
||||
}
|
||||
|
||||
.throttle-section.armed {
|
||||
opacity: 1;
|
||||
}
|
||||
|
||||
#throttleValue {
|
||||
font-size: 2.5em;
|
||||
font-weight: bold;
|
||||
color: #3498db;
|
||||
margin-bottom: 20px;
|
||||
}
|
||||
|
||||
#throttleSlider {
|
||||
appearance: none;
|
||||
width: 100%;
|
||||
height: 25px;
|
||||
background: #2c3e50;
|
||||
outline: none;
|
||||
border-radius: 12px;
|
||||
}
|
||||
|
||||
#throttleSlider::-webkit-slider-thumb {
|
||||
-webkit-appearance: none;
|
||||
appearance: none;
|
||||
width: 40px;
|
||||
height: 40px;
|
||||
background: #3498db;
|
||||
cursor: pointer;
|
||||
border-radius: 50%;
|
||||
}
|
||||
|
||||
#throttleSlider::-moz-range-thumb {
|
||||
width: 40px;
|
||||
height: 40px;
|
||||
background: #3498db;
|
||||
cursor: pointer;
|
||||
border-radius: 50%;
|
||||
border: none;
|
||||
}
|
||||
|
||||
.stats {
|
||||
margin-top: 20px;
|
||||
font-size: 1.2em;
|
||||
}
|
||||
|
||||
.stats span {
|
||||
font-weight: bold;
|
||||
color: #e67e22;
|
||||
}
|
||||
|
||||
.warning-text {
|
||||
color: #e74c3c;
|
||||
font-size: 0.9em;
|
||||
margin-top: 10px;
|
||||
font-style: italic;
|
||||
}
|
||||
</style>
|
||||
</head>
|
||||
|
||||
<body>
|
||||
<h1>DShotRMT Web Client</h1>
|
||||
<div class="control-container">
|
||||
<!-- Arming Section -->
|
||||
<div class="arming-section">
|
||||
<div class="arming-switch">
|
||||
<span class="arming-label">ARMING SWITCH</span>
|
||||
<label class="switch">
|
||||
<input type="checkbox" id="armingSwitch">
|
||||
<span class="slider-switch"></span>
|
||||
</label>
|
||||
</div>
|
||||
<div class="arming-status">
|
||||
<span id="armingStatus" class="status-disarmed">DISARMED</span>
|
||||
</div>
|
||||
<div class="warning-text">
|
||||
⚠️ Disabled when disarmed!
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<!-- Throttle Section -->
|
||||
<div class="throttle-section" id="throttleSection">
|
||||
<div id="throttleValue">0</div>
|
||||
<input type="range" min="48" max="2047" value="0" id="throttleSlider" disabled>
|
||||
</div>
|
||||
|
||||
<div class="stats">
|
||||
RPM: <span id="rpmValue">--</span>
|
||||
</div>
|
||||
</div>
|
||||
|
||||
<script>
|
||||
const gateway = `ws://${window.location.hostname}/ws`;
|
||||
let websocket;
|
||||
let isArmed = false;
|
||||
|
||||
// Init WebSocket
|
||||
window.addEventListener('load', () => {
|
||||
initWebSocket();
|
||||
});
|
||||
|
||||
function initWebSocket() {
|
||||
console.log('Trying to open a WebSocket connection...');
|
||||
|
||||
websocket = new WebSocket(gateway);
|
||||
websocket.onopen = onOpen;
|
||||
websocket.onclose = onClose;
|
||||
websocket.onmessage = onMessage;
|
||||
}
|
||||
|
||||
function onOpen(event) {
|
||||
console.log('Connection opened');
|
||||
}
|
||||
|
||||
function onClose(event) {
|
||||
console.log('Connection closed');
|
||||
setTimeout(initWebSocket, 2000);
|
||||
}
|
||||
|
||||
// Getting data from sketch
|
||||
function onMessage(event) {
|
||||
try {
|
||||
const data = JSON.parse(event.data);
|
||||
|
||||
if (data.rpm !== undefined) {
|
||||
document.getElementById('rpmValue').innerText = data.rpm;
|
||||
}
|
||||
|
||||
// Sync web and serial throttle inputs
|
||||
if (data.throttle !== undefined) {
|
||||
if (isArmed) {
|
||||
document.getElementById('throttleSlider').value = data.throttle;
|
||||
document.getElementById('throttleValue').innerText = data.throttle;
|
||||
}
|
||||
}
|
||||
|
||||
// Sync arming status if received from ESP32
|
||||
if (data.armed !== undefined) {
|
||||
isArmed = data.armed;
|
||||
updateArmingUI();
|
||||
}
|
||||
|
||||
} catch (e) {
|
||||
console.error("Error parsing JSON: ", e);
|
||||
}
|
||||
}
|
||||
|
||||
// Elements
|
||||
const slider = document.getElementById('throttleSlider');
|
||||
const sliderValue = document.getElementById('throttleValue');
|
||||
const armingSwitch = document.getElementById('armingSwitch');
|
||||
const armingStatus = document.getElementById('armingStatus');
|
||||
const throttleSection = document.getElementById('throttleSection');
|
||||
|
||||
// Arming switch event
|
||||
armingSwitch.addEventListener('change', () => {
|
||||
isArmed = armingSwitch.checked;
|
||||
updateArmingUI();
|
||||
|
||||
// Send arming status to ESP32
|
||||
const message = JSON.stringify({
|
||||
"armed": isArmed,
|
||||
"throttle": isArmed ? parseInt(slider.value) : 0
|
||||
});
|
||||
|
||||
console.log("Sending arming status: ", message);
|
||||
websocket.send(message);
|
||||
|
||||
// If disarmed, set throttle to 0
|
||||
if (!isArmed) {
|
||||
slider.value = 0;
|
||||
sliderValue.innerText = 0;
|
||||
}
|
||||
});
|
||||
|
||||
// Update UI based on arming status
|
||||
function updateArmingUI() {
|
||||
|
||||
// Synch checkbox, as well
|
||||
armingSwitch.checked = isArmed;
|
||||
|
||||
if (isArmed) {
|
||||
armingStatus.innerText = 'ARMED';
|
||||
armingStatus.className = 'status-armed';
|
||||
throttleSection.classList.add('armed');
|
||||
slider.disabled = false;
|
||||
} else {
|
||||
armingStatus.innerText = 'DISARMED';
|
||||
armingStatus.className = 'status-disarmed';
|
||||
throttleSection.classList.remove('armed');
|
||||
slider.disabled = true;
|
||||
slider.value = 0;
|
||||
sliderValue.innerText = 0;
|
||||
}
|
||||
}
|
||||
|
||||
// Throttle slider event
|
||||
slider.addEventListener('input', () => {
|
||||
if (!isArmed) {
|
||||
slider.disabled = true;
|
||||
slider.value = 0;
|
||||
sliderValue.innerText = 0;
|
||||
return;
|
||||
}
|
||||
|
||||
const throttle = slider.value;
|
||||
sliderValue.innerText = throttle;
|
||||
|
||||
const message = JSON.stringify({
|
||||
"throttle": parseInt(throttle),
|
||||
"armed": isArmed
|
||||
});
|
||||
|
||||
console.log("Sending throttle: ", message);
|
||||
websocket.send(message);
|
||||
});
|
||||
|
||||
// Initialize UI
|
||||
updateArmingUI();
|
||||
</script>
|
||||
</body>
|
||||
|
||||
</html>
|
||||
|
||||
)rawliteral";
|
||||
Loading…
Reference in New Issue