123 lines
2.8 KiB
C++
123 lines
2.8 KiB
C++
/**
|
||
* @file dshot300.ino
|
||
* @brief Demo sketch for DShotRMT library
|
||
* @author Wastl Kraus
|
||
* @date 2025-06-11
|
||
* @license MIT
|
||
*/
|
||
|
||
#include <Arduino.h>
|
||
#include <DShotRMT.h>
|
||
|
||
// USB serial port settings
|
||
static constexpr auto &USB_SERIAL = Serial0;
|
||
static constexpr auto USB_SERIAL_BAUD = 115200;
|
||
|
||
// Motor configuration
|
||
// Pin number or GPIO_PIN
|
||
// static constexpr gpio_num_t MOTOR01_PIN = GPIO_NUM_17;
|
||
static constexpr auto MOTOR01_PIN = 17;
|
||
|
||
// Supported: DSHOT150, DSHOT300, DSHOT600, (DSHOT1200)
|
||
static constexpr dshot_mode_t DSHOT_MODE = DSHOT300;
|
||
|
||
// BiDirectional DShot Support (default: false)
|
||
static constexpr bool IS_BIDIRECTIONAL = false;
|
||
|
||
// Motor magnet count for RPM calculation
|
||
static constexpr auto MOTOR01_MAGNET_COUNT = 14;
|
||
|
||
//
|
||
// Create the motor instance
|
||
DShotRMT motor01(MOTOR01_PIN, DSHOT_MODE, IS_BIDIRECTIONAL);
|
||
|
||
//
|
||
void setup()
|
||
{
|
||
// Start the USB Serial Port
|
||
USB_SERIAL.begin(USB_SERIAL_BAUD);
|
||
|
||
// Initialize DShot Signal
|
||
motor01.begin();
|
||
|
||
// Arm ESC with minimum throttle
|
||
// motor01.sendThrottle(DSHOT_THROTTLE_MIN);
|
||
|
||
USB_SERIAL.println("***********************************");
|
||
USB_SERIAL.println(" === DShotRMT Demo started. === ");
|
||
USB_SERIAL.println("Enter a throttle value (48 – 2047):");
|
||
}
|
||
|
||
//
|
||
void loop()
|
||
{
|
||
static auto throttle = DSHOT_THROTTLE_MIN;
|
||
|
||
if (USB_SERIAL.available() > NULL)
|
||
{
|
||
auto new_throttle = (USB_SERIAL.readStringUntil('\n').toInt());
|
||
|
||
USB_SERIAL.println("*********************");
|
||
USB_SERIAL.print("Throttle set to: ");
|
||
USB_SERIAL.println(new_throttle);
|
||
|
||
//
|
||
throttle = new_throttle;
|
||
}
|
||
|
||
// Sends the value to the ESC
|
||
motor01.sendThrottle(throttle);
|
||
|
||
// Prints out RPM if BiDirectional DShot is enabled every 2 seconds
|
||
// printRPMPeriodically(2000);
|
||
|
||
// Debug: Prints out "raw" DShot packet every 2 seconds
|
||
print_RMT_packet(2000);
|
||
}
|
||
|
||
// Prints RPM every ms
|
||
void printRPMPeriodically(auto timer_ms)
|
||
{
|
||
if (IS_BIDIRECTIONAL)
|
||
{
|
||
static unsigned long last_print_time = 0;
|
||
|
||
if (millis() - last_print_time >= timer_ms)
|
||
{
|
||
auto rpm = motor01.getMotorRPM(MOTOR01_MAGNET_COUNT);
|
||
|
||
USB_SERIAL.print("RPM: ");
|
||
USB_SERIAL.println(rpm);
|
||
|
||
last_print_time = millis();
|
||
}
|
||
}
|
||
}
|
||
|
||
// Prints "raw" packet every ms
|
||
void print_RMT_packet(auto timer_ms)
|
||
{
|
||
static unsigned long last_print_time = 0;
|
||
|
||
if (millis() - last_print_time >= timer_ms)
|
||
{
|
||
auto packet = motor01.getDShotPacket();
|
||
|
||
// Print bit by bit
|
||
for (int i = 15; i >= 0; --i)
|
||
{
|
||
if ((packet >> i) & 1)
|
||
{
|
||
USB_SERIAL.print("1");
|
||
}
|
||
else
|
||
{
|
||
USB_SERIAL.print("0");
|
||
}
|
||
}
|
||
|
||
USB_SERIAL.println("");
|
||
last_print_time = millis();
|
||
}
|
||
}
|