203 lines
7.7 KiB
C++
203 lines
7.7 KiB
C++
//
|
|
// Name: DShotRMT.h
|
|
// Created: 20.03.2021 00:49:15
|
|
// Author: derdoktor667
|
|
//
|
|
|
|
#ifndef _DSHOTRMT_h
|
|
#define _DSHOTRMT_h
|
|
|
|
#include <Arduino.h>
|
|
|
|
// The RMT (Remote Control) module library is used for generating the DShot signal.
|
|
#include <driver/rmt.h>
|
|
#include <driver/rmt_types_legacy.h>
|
|
|
|
// Defines the library version
|
|
constexpr auto DSHOT_LIB_VERSION = "0.2.4";
|
|
|
|
// Constants related to the DShot protocol
|
|
constexpr auto DSHOT_CLK_DIVIDER = 8; // Slow down RMT clock to 0.1 microseconds / 100 nanoseconds per cycle
|
|
constexpr auto DSHOT_PACKET_LENGTH = 17; // Last pack is the pause
|
|
constexpr auto DSHOT_THROTTLE_MIN = 48;
|
|
constexpr auto DSHOT_THROTTLE_MAX = 2047;
|
|
constexpr auto DSHOT_NULL_PACKET = 0b0000000000000000;
|
|
constexpr auto DSHOT_PAUSE = 21; // 21-bit is recommended
|
|
constexpr auto DSHOT_PAUSE_BIT = 16;
|
|
constexpr auto F_CPU_RMT = ( 80*1000000 ); //unit: Hz
|
|
constexpr auto RMT_CYCLES_PER_SEC = (F_CPU_RMT / DSHOT_CLK_DIVIDER);
|
|
constexpr auto RMT_CYCLES_PER_ESP_CYCLE = (F_CPU / RMT_CYCLES_PER_SEC);
|
|
|
|
// Enumeration for the DShot mode
|
|
typedef enum dshot_mode_e
|
|
{
|
|
DSHOT_OFF,
|
|
DSHOT150,
|
|
DSHOT300,
|
|
DSHOT600,
|
|
DSHOT1200
|
|
} dshot_mode_t;
|
|
|
|
// Array of human-readable DShot mode names
|
|
static const char *const dshot_mode_name[] = {
|
|
"DSHOT_OFF",
|
|
"DSHOT150",
|
|
"DSHOT300",
|
|
"DSHOT600",
|
|
"DSHOT1200"};
|
|
|
|
// Enumeration for telemetric request
|
|
typedef enum telemetric_request_e
|
|
{
|
|
NO_TELEMETRIC,
|
|
ENABLE_TELEMETRIC,
|
|
} telemetric_request_t;
|
|
|
|
// Structure for DShot packets
|
|
typedef struct dshot_packet_s
|
|
{
|
|
uint16_t throttle_value : 11;
|
|
telemetric_request_t telemetric_request : 1;
|
|
uint16_t checksum : 4;
|
|
} dshot_packet_t;
|
|
|
|
// Structure for eRPM packets
|
|
typedef struct eRPM_packet_s
|
|
{
|
|
uint16_t eRPM_data : 12;
|
|
uint8_t checksum : 4;
|
|
} eRPM_packet_t;
|
|
|
|
// return states of the RPM getting function
|
|
typedef enum dshot_erpm_exit_mode_e
|
|
{
|
|
DECODE_SUCCESS = 0,
|
|
ERR_EMPTY_QUEUE,
|
|
ERR_NO_PACKETS,
|
|
ERR_CHECKSUM_FAIL,
|
|
ERR_BIDIRECTION_DISABLED,
|
|
|
|
} dshot_erpm_exit_mode_t;
|
|
|
|
// Structure for all settings for the DShot mode
|
|
typedef struct dshot_config_s
|
|
{
|
|
dshot_mode_t mode;
|
|
String name_str;
|
|
bool is_bidirectional;
|
|
gpio_num_t gpio_num;
|
|
uint8_t pin_num;
|
|
rmt_channel_t rmt_channel;
|
|
uint8_t mem_block_num;
|
|
uint16_t ticks_per_bit;
|
|
uint8_t clk_div;
|
|
uint16_t ticks_zero_high;
|
|
uint16_t ticks_zero_low;
|
|
uint16_t ticks_one_high;
|
|
uint16_t ticks_one_low;
|
|
} dshot_config_t;
|
|
|
|
// The official DShot Commands
|
|
typedef enum dshot_cmd_e
|
|
{
|
|
DSHOT_CMD_MOTOR_STOP = 0, // Currently not implemented - STOP Motors
|
|
DSHOT_CMD_BEEP1, // Wait at least length of beep (380ms) before next command
|
|
DSHOT_CMD_BEEP2, // Wait at least length of beep (380ms) before next command
|
|
DSHOT_CMD_BEEP3, // Wait at least length of beep (400ms) before next command
|
|
DSHOT_CMD_BEEP4, // Wait at least length of beep (400ms) before next command
|
|
DSHOT_CMD_BEEP5, // Wait at least length of beep (400ms) before next command
|
|
DSHOT_CMD_ESC_INFO, // Currently not implemented
|
|
DSHOT_CMD_SPIN_DIRECTION_1, // Need 6x, no wait required
|
|
DSHOT_CMD_SPIN_DIRECTION_2, // Need 6x, no wait required
|
|
DSHOT_CMD_3D_MODE_OFF, // Need 6x, no wait required
|
|
DSHOT_CMD_3D_MODE_ON, // Need 6x, no wait required
|
|
DSHOT_CMD_SETTINGS_REQUEST, // Currently not implemented
|
|
DSHOT_CMD_SAVE_SETTINGS, // Need 6x, wait at least 12ms before next command
|
|
DSHOT_CMD_SPIN_DIRECTION_NORMAL, // Need 6x, no wait required
|
|
DSHOT_CMD_SPIN_DIRECTION_REVERSED, // Need 6x, no wait required
|
|
DSHOT_CMD_LED0_ON, // Currently not implemented
|
|
DSHOT_CMD_LED1_ON, // Currently not implemented
|
|
DSHOT_CMD_LED2_ON, // Currently not implemented
|
|
DSHOT_CMD_LED3_ON, // Currently not implemented
|
|
DSHOT_CMD_LED0_OFF, // Currently not implemented
|
|
DSHOT_CMD_LED1_OFF, // Currently not implemented
|
|
DSHOT_CMD_LED2_OFF, // Currently not implemented
|
|
DSHOT_CMD_LED3_OFF, // Currently not implemented
|
|
DSHOT_CMD_36, // Not yet assigned
|
|
DSHOT_CMD_37, // Not yet assigned
|
|
DSHOT_CMD_38, // Not yet assigned
|
|
DSHOT_CMD_39, // Not yet assigned
|
|
DSHOT_CMD_40, // Not yet assigned
|
|
DSHOT_CMD_41, // Not yet assigned
|
|
DSHOT_CMD_SIGNAL_LINE_TEMPERATURE_TELEMETRY, // No wait required
|
|
DSHOT_CMD_SIGNAL_LINE_VOLTAGE_TELEMETRY, // No wait required
|
|
DSHOT_CMD_SIGNAL_LINE_CURRENT_TELEMETRY, // No wait required
|
|
DSHOT_CMD_SIGNAL_LINE_CONSUMPTION_TELEMETRY, // No wait required
|
|
DSHOT_CMD_SIGNAL_LINE_ERPM_TELEMETRY, // No wait required
|
|
DSHOT_CMD_SIGNAL_LINE_ERPM_PERIOD_TELEMETRY, // No wait required (also command 47)
|
|
DSHOT_CMD_MAX = 47
|
|
} dshot_cmd_t;
|
|
|
|
// ...Mapping for GCR
|
|
static const unsigned char GCR_encode[16] =
|
|
{
|
|
0x19, 0x1B, 0x12, 0x13,
|
|
0x1D, 0x15, 0x16, 0x17,
|
|
0x1A, 0x09, 0x0A, 0x0B,
|
|
0x1E, 0x0D, 0x0E, 0x0F};
|
|
|
|
// ...shifting 5 bits > 4 bits (0xff => invalid)
|
|
static const unsigned char GCR_decode[32] =
|
|
{
|
|
0xFF, 0xFF, 0xFF, 0xFF, // 0 - 3
|
|
0xFF, 0xFF, 0xFF, 0xFF, // 4 - 7
|
|
0xFF, 9, 10, 11, // 8 - 11
|
|
0xFF, 13, 14, 15, // 12 - 15
|
|
|
|
0xFF, 0xFF, 2, 3, // 16 - 19
|
|
0xFF, 5, 6, 7, // 20 - 23
|
|
0xFF, 0, 8, 1, // 24 - 27
|
|
0xFF, 4, 12, 0xFF, // 28 - 31
|
|
};
|
|
|
|
// The main DShotRMT class
|
|
class DShotRMT
|
|
{
|
|
public:
|
|
// Constructor for the DShotRMT class
|
|
DShotRMT(gpio_num_t gpio, rmt_channel_t rmtChannel);
|
|
DShotRMT(uint8_t pin, uint8_t channel);
|
|
DShotRMT(uint8_t pin);
|
|
|
|
// Destructor for the DShotRMT class
|
|
~DShotRMT();
|
|
|
|
// Copy constructor for the DShotRMT class
|
|
DShotRMT(DShotRMT const &);
|
|
|
|
// The begin() function initializes the DShotRMT class with
|
|
// a given DShot mode (DSHOT_OFF, DSHOT150, DSHOT300, DSHOT600, DSHOT1200)
|
|
// and a bidirectional flag. It returns a boolean value
|
|
// indicating whether or not the initialization was successful.
|
|
bool begin(dshot_mode_t dshot_mode = DSHOT_OFF, bool is_bidirectional = false);
|
|
|
|
// The sendThrottleValue() function sends a DShot packet with a given
|
|
// throttle value (between 49 and 2047) and an optional telemetry
|
|
// request flag.
|
|
// void sendThrottleValue(uint16_t throttle_value, telemetric_request_t telemetric_request = NO_TELEMETRIC);
|
|
void sendThrottleValue(uint16_t throttle_value);
|
|
|
|
private:
|
|
rmt_item32_t dshot_tx_rmt_item[DSHOT_PACKET_LENGTH]; // An array of RMT items used to send a DShot packet.
|
|
rmt_config_t dshot_tx_rmt_config; // The RMT configuration used for sending DShot packets.
|
|
dshot_config_t dshot_config; // The configuration for the DShot mode.
|
|
|
|
rmt_item32_t *buildTxRmtItem(uint16_t parsed_packet); // Constructs an RMT item from a parsed DShot packet.
|
|
uint16_t calculateCRC(const dshot_packet_t &dshot_packet); // Calculates the CRC checksum for a DShot packet.
|
|
uint16_t parseRmtPaket(const dshot_packet_t &dshot_packet); // Parses an RMT packet to obtain a DShot packet.
|
|
|
|
void sendRmtPaket(const dshot_packet_t &dshot_packet); // Sends a DShot packet via RMT.
|
|
};
|
|
|
|
#endif
|