125 lines
3.8 KiB
C++
125 lines
3.8 KiB
C++
/*
|
|
* DShotCommandManager.h
|
|
* Advanced DShot command management for DShotRMT library
|
|
* Author: Wastl Kraus
|
|
* Date: 2025-09-04
|
|
* License: MIT
|
|
*/
|
|
|
|
#pragma once
|
|
|
|
#include <Arduino.h>
|
|
#include <DShotRMT.h>
|
|
#include <dshot_commands.h>
|
|
|
|
// Command sequence item
|
|
typedef struct
|
|
{
|
|
dshot_commands_t command;
|
|
uint16_t repeat_count;
|
|
uint32_t delay_ms;
|
|
} dshot_command_sequence_item_t;
|
|
|
|
// Advanced DShot command manager class
|
|
class DShotCommandManager
|
|
{
|
|
public:
|
|
// Constructor
|
|
explicit DShotCommandManager(DShotRMT &dshot_instance);
|
|
|
|
// Initialize command manager
|
|
dshot_result_t begin();
|
|
|
|
void handleMenuInput(const String &input, Stream &output = Serial);
|
|
|
|
// Send a single DShot command
|
|
dshot_result_t sendCommand(dshot_commands_t command, uint16_t repeat_count = 1);
|
|
|
|
// Send command with specified delay between repetitions
|
|
dshot_result_t sendCommandWithDelay(dshot_commands_t command, uint16_t repeat_count, uint32_t delay_ms);
|
|
|
|
// --- MOTOR CONTROL COMMANDS ---
|
|
// Stop motor (send MOTOR_STOP command)
|
|
dshot_result_t stopMotor();
|
|
|
|
// Enable/disable 3D mode
|
|
dshot_result_t set3DMode(bool enable);
|
|
|
|
// Set motor spin direction
|
|
dshot_result_t setSpinDirection(bool reversed);
|
|
|
|
// Save current settings to ESC
|
|
dshot_result_t saveSettings();
|
|
|
|
// --- TELEMETRY COMMANDS ---
|
|
// Enable/disable extended telemetry
|
|
dshot_result_t setExtendedTelemetry(bool enable);
|
|
|
|
// Request ESC information
|
|
dshot_result_t requestESCInfo();
|
|
|
|
// --- LED CONTROL COMMANDS (BLHeli32 only) ---
|
|
|
|
// Control ESC LEDs (BLHeli32 only)
|
|
dshot_result_t setLED(uint8_t led_number, bool state);
|
|
|
|
// --- BEACON COMMANDS ---
|
|
// Activate beacon (motor beeping)
|
|
dshot_result_t activateBeacon(uint8_t beacon_number);
|
|
|
|
// --- KISS ESC SPECIFIC COMMANDS ---
|
|
// Enable/disable audio stream mode (KISS ESCs)
|
|
dshot_result_t setAudioStreamMode(bool enable);
|
|
|
|
// Enable/disable silent mode (KISS ESCs)
|
|
dshot_result_t setSilentMode(bool enable);
|
|
|
|
// --- SEQUENCE COMMANDS ---
|
|
// Execute a sequence of DShot commands
|
|
dshot_result_t executeSequence(const dshot_command_sequence_item_t *sequence, size_t sequence_length);
|
|
|
|
// Execute ESC initialization sequence
|
|
dshot_result_t executeInitSequence();
|
|
|
|
// Execute ESC calibration sequence
|
|
dshot_result_t executeCalibrationSequence();
|
|
|
|
// --- UTILITY METHODS ---
|
|
// Get command name as string
|
|
static const char *getCommandName(dshot_commands_t command);
|
|
|
|
// Check if command is valid
|
|
static bool isValidCommand(dshot_commands_t command);
|
|
|
|
// --- GETTERS ---
|
|
// Get total number of commands sent
|
|
uint32_t getTotalCommandCount() const { return _total_commands_sent; }
|
|
|
|
// Get number of failed commands
|
|
uint32_t getFailedCommandCount() const { return _failed_commands; }
|
|
|
|
// Get reference to underlying DShotRMT instance
|
|
DShotRMT &getDShotRMT() { return _dshot; }
|
|
const DShotRMT &getDShotRMT() const { return _dshot; }
|
|
|
|
private:
|
|
// --- PRIVATE MEMBERS ---
|
|
DShotRMT &_dshot; // Reference to DShotRMT instance
|
|
uint32_t _total_commands_sent; // Total commands sent counter
|
|
uint32_t _failed_commands; // Failed commands counter
|
|
uint64_t _last_command_timestamp; // Timestamp of last command
|
|
|
|
// --- PRIVATE METHODS ---
|
|
// Execute single command with timing
|
|
dshot_result_t _executeCommand(dshot_commands_t command);
|
|
|
|
// Wait for specified delay
|
|
void _delay_ms(uint32_t delay_ms);
|
|
|
|
// --- CONSTANTS ---
|
|
static constexpr uint32_t DEFAULT_COMMAND_DELAY_MS = 10;
|
|
static constexpr uint16_t DEFAULT_REPEAT_COUNT = 1;
|
|
static constexpr uint16_t SETTINGS_COMMAND_REPEATS = 10; // Settings commands need 10 repeats
|
|
static constexpr uint32_t SETTINGS_COMMAND_DELAY_MS = 5;
|
|
};
|