202 lines
7.7 KiB
C++
202 lines
7.7 KiB
C++
//
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// Name: DShotRMT.h
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// Created: 20.03.2021 00:49:15
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// Author: derdoktor667
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//
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#ifndef _DSHOTRMT_h
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#define _DSHOTRMT_h
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#include <Arduino.h>
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// The RMT (Remote Control) module library is used for generating the DShot signal.
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#include <driver/rmt.h>
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// Defines the library version
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constexpr auto DSHOT_LIB_VERSION = "0.2.4";
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// Constants related to the DShot protocol
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constexpr auto DSHOT_CLK_DIVIDER = 8; // Slow down RMT clock to 0.1 microseconds / 100 nanoseconds per cycle
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constexpr auto DSHOT_PACKET_LENGTH = 17; // Last pack is the pause
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constexpr auto DSHOT_THROTTLE_MIN = 48;
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constexpr auto DSHOT_THROTTLE_MAX = 2047;
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constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000;
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constexpr auto DSHOT_PAUSE = 21; // 21-bit is recommended
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constexpr auto DSHOT_PAUSE_BIT = 16;
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constexpr auto F_CPU_RMT = (80 * 1000 * 1000); // unit: Hz
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constexpr auto RMT_CYCLES_PER_SEC = (F_CPU_RMT / DSHOT_CLK_DIVIDER);
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constexpr auto RMT_CYCLES_PER_ESP_CYCLE = (F_CPU / RMT_CYCLES_PER_SEC);
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// Enumeration for the DShot mode
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typedef enum dshot_mode_e
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{
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DSHOT_OFF,
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DSHOT150,
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DSHOT300,
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DSHOT600,
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DSHOT1200
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} dshot_mode_t;
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// Array of human-readable DShot mode names
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static const char *const dshot_mode_name[] = {
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"DSHOT_OFF",
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"DSHOT150",
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"DSHOT300",
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"DSHOT600",
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"DSHOT1200"};
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// Enumeration for telemetric request
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typedef enum telemetric_request_e
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{
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NO_TELEMETRIC,
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ENABLE_TELEMETRIC,
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} telemetric_request_t;
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// Structure for DShot packets
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typedef struct dshot_packet_s
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{
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uint16_t throttle_value : 11;
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telemetric_request_t telemetric_request : 1;
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uint16_t checksum : 4;
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} dshot_packet_t;
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// Structure for eRPM packets
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typedef struct eRPM_packet_s
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{
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uint16_t eRPM_data : 12;
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uint8_t checksum : 4;
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} eRPM_packet_t;
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// return states of the RPM getting function
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typedef enum dshot_erpm_exit_mode_e
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{
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DECODE_SUCCESS = 0,
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ERR_EMPTY_QUEUE,
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ERR_NO_PACKETS,
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ERR_CHECKSUM_FAIL,
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ERR_BIDIRECTION_DISABLED,
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} dshot_erpm_exit_mode_t;
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// Structure for all settings for the DShot mode
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typedef struct dshot_config_s
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{
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dshot_mode_t mode;
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String name_str;
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bool is_bidirectional;
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gpio_num_t gpio_num;
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uint8_t pin_num;
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rmt_channel_t rmt_channel;
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uint8_t mem_block_num;
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uint16_t ticks_per_bit;
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uint8_t clk_div;
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uint16_t ticks_zero_high;
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uint16_t ticks_zero_low;
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uint16_t ticks_one_high;
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uint16_t ticks_one_low;
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} dshot_config_t;
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// The official DShot Commands
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typedef enum dshot_cmd_e
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{
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DSHOT_CMD_MOTOR_STOP = 0, // Currently not implemented - STOP Motors
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DSHOT_CMD_BEEP1, // Wait at least length of beep (380ms) before next command
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DSHOT_CMD_BEEP2, // Wait at least length of beep (380ms) before next command
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DSHOT_CMD_BEEP3, // Wait at least length of beep (400ms) before next command
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DSHOT_CMD_BEEP4, // Wait at least length of beep (400ms) before next command
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DSHOT_CMD_BEEP5, // Wait at least length of beep (400ms) before next command
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DSHOT_CMD_ESC_INFO, // Currently not implemented
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DSHOT_CMD_SPIN_DIRECTION_1, // Need 6x, no wait required
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DSHOT_CMD_SPIN_DIRECTION_2, // Need 6x, no wait required
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DSHOT_CMD_3D_MODE_OFF, // Need 6x, no wait required
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DSHOT_CMD_3D_MODE_ON, // Need 6x, no wait required
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DSHOT_CMD_SETTINGS_REQUEST, // Currently not implemented
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DSHOT_CMD_SAVE_SETTINGS, // Need 6x, wait at least 12ms before next command
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DSHOT_CMD_SPIN_DIRECTION_NORMAL, // Need 6x, no wait required
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DSHOT_CMD_SPIN_DIRECTION_REVERSED, // Need 6x, no wait required
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DSHOT_CMD_LED0_ON, // Currently not implemented
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DSHOT_CMD_LED1_ON, // Currently not implemented
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DSHOT_CMD_LED2_ON, // Currently not implemented
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DSHOT_CMD_LED3_ON, // Currently not implemented
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DSHOT_CMD_LED0_OFF, // Currently not implemented
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DSHOT_CMD_LED1_OFF, // Currently not implemented
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DSHOT_CMD_LED2_OFF, // Currently not implemented
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DSHOT_CMD_LED3_OFF, // Currently not implemented
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DSHOT_CMD_36, // Not yet assigned
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DSHOT_CMD_37, // Not yet assigned
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DSHOT_CMD_38, // Not yet assigned
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DSHOT_CMD_39, // Not yet assigned
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DSHOT_CMD_40, // Not yet assigned
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DSHOT_CMD_41, // Not yet assigned
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DSHOT_CMD_SIGNAL_LINE_TEMPERATURE_TELEMETRY, // No wait required
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DSHOT_CMD_SIGNAL_LINE_VOLTAGE_TELEMETRY, // No wait required
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DSHOT_CMD_SIGNAL_LINE_CURRENT_TELEMETRY, // No wait required
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DSHOT_CMD_SIGNAL_LINE_CONSUMPTION_TELEMETRY, // No wait required
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DSHOT_CMD_SIGNAL_LINE_ERPM_TELEMETRY, // No wait required
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DSHOT_CMD_SIGNAL_LINE_ERPM_PERIOD_TELEMETRY, // No wait required (also command 47)
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DSHOT_CMD_MAX = 47
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} dshot_cmd_t;
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// ...Mapping for GCR
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static const unsigned char GCR_encode[16] =
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{
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0x19, 0x1B, 0x12, 0x13,
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0x1D, 0x15, 0x16, 0x17,
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0x1A, 0x09, 0x0A, 0x0B,
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0x1E, 0x0D, 0x0E, 0x0F};
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// ...shifting 5 bits > 4 bits (0xff => invalid)
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static const unsigned char GCR_decode[32] =
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{
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0xFF, 0xFF, 0xFF, 0xFF, // 0 - 3
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0xFF, 0xFF, 0xFF, 0xFF, // 4 - 7
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0xFF, 9, 10, 11, // 8 - 11
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0xFF, 13, 14, 15, // 12 - 15
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0xFF, 0xFF, 2, 3, // 16 - 19
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0xFF, 5, 6, 7, // 20 - 23
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0xFF, 0, 8, 1, // 24 - 27
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0xFF, 4, 12, 0xFF, // 28 - 31
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};
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// The main DShotRMT class
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class DShotRMT
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{
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public:
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// Constructor for the DShotRMT class
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DShotRMT(gpio_num_t gpio, rmt_channel_t rmtChannel);
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DShotRMT(uint8_t pin, uint8_t channel);
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DShotRMT(uint8_t pin);
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// Destructor for the DShotRMT class
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~DShotRMT();
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// Copy constructor for the DShotRMT class
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DShotRMT(DShotRMT const &);
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// The begin() function initializes the DShotRMT class with
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// a given DShot mode (DSHOT_OFF, DSHOT150, DSHOT300, DSHOT600, DSHOT1200)
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// and a bidirectional flag. It returns a boolean value
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// indicating whether or not the initialization was successful.
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bool begin(dshot_mode_t dshot_mode = DSHOT_OFF, bool is_bidirectional = false);
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// The sendThrottleValue() function sends a DShot packet with a given
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// throttle value (between 49 and 2047) and an optional telemetry
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// request flag.
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// void sendThrottleValue(uint16_t throttle_value, telemetric_request_t telemetric_request = NO_TELEMETRIC);
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void sendThrottleValue(uint16_t throttle_value);
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private:
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rmt_item32_t dshot_tx_rmt_item[DSHOT_PACKET_LENGTH]; // An array of RMT items used to send a DShot packet.
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rmt_config_t dshot_tx_rmt_config; // The RMT configuration used for sending DShot packets.
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dshot_config_t dshot_config; // The configuration for the DShot mode.
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rmt_item32_t *buildTxRmtItem(uint16_t parsed_packet); // Constructs an RMT item from a parsed DShot packet.
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uint16_t calculateCRC(const dshot_packet_t &dshot_packet); // Calculates the CRC checksum for a DShot packet.
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uint16_t parseRmtPaket(const dshot_packet_t &dshot_packet); // Parses an RMT packet to obtain a DShot packet.
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void sendRmtPaket(const dshot_packet_t &dshot_packet); // Sends a DShot packet via RMT.
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};
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#endif
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