54 lines
1.4 KiB
C++
54 lines
1.4 KiB
C++
/**
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* @file DShotRMT.h
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* @brief DShot signal generation using ESP32 RMT with continuous repeat and pause between frames, including BiDirectional support
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* @author Wastl Kraus
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* @date 2025-06-11
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* @license MIT
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*/
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#pragma once
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#include <Arduino.h>
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#include <driver/rmt_tx.h>
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#include <driver/rmt_rx.h>
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static constexpr auto DSHOT_THROTTLE_FAILSAVE = 0;
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static constexpr auto DSHOT_THROTTLE_MIN = 48;
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static constexpr auto DSHOT_THROTTLE_MAX = 2047;
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static constexpr auto DEFAULT_RES_HZ = 10 * 1000 * 1000; // 10 MHz
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static constexpr auto PAUSE_BITS = 21;
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static constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000;
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typedef enum dshot_mode_e
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{
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DSHOT150,
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DSHOT300,
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DSHOT600
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} dshot_mode_t;
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class DShotRMT
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{
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public:
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DShotRMT(gpio_num_t gpio, dshot_mode_t mode = DSHOT300, bool isBidirectional = false);
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void begin();
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void setThrottle(uint16_t throttle);
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gpio_num_t getGPIO() const { return _gpio; }
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dshot_mode_t getDShotMode() const { return _mode; }
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private:
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gpio_num_t _gpio;
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dshot_mode_t _mode;
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bool _isBidirectional;
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uint16_t _lastThrottle = 0;
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uint16_t dshot_packet = DSHOT_NULL_PACKET;
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rmt_channel_handle_t _rmt_tx_channel = nullptr;
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rmt_channel_handle_t _rmt_rx_channel = nullptr;
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rmt_encoder_handle_t _dshot_encoder = nullptr;
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rmt_transmit_config_t _transmit_config = {};
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void buildFrameSymbols(uint16_t dshot_packet, rmt_symbol_word_t *symbols, size_t &count);
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};
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