63 lines
1.8 KiB
C++
63 lines
1.8 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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// DShot Protocol Constants
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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 DSHOT_BITS_PER_FRAME = 17;
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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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static constexpr auto DSHOT_FULL_PACKET = 0b1111111111111111;
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static constexpr auto NO_ERPM_SIGNAL = 0;
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static constexpr auto DSHOT_CLOCK_SRC_DEFAULT = RMT_CLK_SRC_DEFAULT;
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static constexpr auto DSHOT_RMT_RESOLUTION = 10 * 1000 * 1000; // set 10 MHz RMT Resolution
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// DShot Mode Selection
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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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//
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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 = DSHOT_FULL_PACKET;
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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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