158 lines
5.2 KiB
C
158 lines
5.2 KiB
C
#pragma once
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#include <Arduino.h>
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#include <driver/gpio.h>
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#include <driver/rmt_tx.h>
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#include <driver/rmt_rx.h>
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#include <atomic>
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// Defines the available DShot communication speeds.
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enum dshot_mode_t
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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_MAX
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};
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// Represents the 16-bit DShot data packet sent to the ESC.
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typedef struct dshot_packet
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{
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uint16_t throttle_value : 11; // 11-bit throttle value or command.
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bool telemetric_request : 1; // 1-bit telemetry request flag.
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uint16_t checksum : 4; // 4-bit CRC checksum.
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} dshot_packet_t;
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// Defines the bit length and high time for a '1' bit in microseconds for each DShot mode.
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typedef struct dshot_timing
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{
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double bit_length_us; // Total duration of one bit in microseconds.
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double t1h_lenght_us; // High time duration for a '1' bit in microseconds.
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} dshot_timing_us_t;
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// Stores pre-calculated timing values in RMT ticks for efficient signal generation.
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typedef struct rmt_ticks
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{
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uint16_t bit_length_ticks; // Total duration of one bit in RMT ticks.
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uint16_t t1h_ticks; // High time duration for a '1' bit in RMT ticks.
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uint16_t t1l_ticks; // Low time duration for a '1' bit in RMT ticks.
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uint16_t t0h_ticks; // High time duration for a '0' bit in RMT ticks.
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uint16_t t0l_ticks; // Low time duration for a '0' bit in RMT ticks.
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} rmt_ticks_t;
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// Enum class for specific error and success codes
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enum dshot_msg_code_t
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{
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DSHOT_NONE = 0,
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DSHOT_UNKNOWN,
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DSHOT_TX_INIT_FAILED,
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DSHOT_RX_INIT_FAILED,
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DSHOT_ENCODER_INIT_FAILED,
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DSHOT_CALLBACK_REGISTERING_FAILED,
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DSHOT_RECEIVER_FAILED,
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DSHOT_TRANSMISSION_FAILED,
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DSHOT_THROTTLE_NOT_IN_RANGE,
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DSHOT_PERCENT_NOT_IN_RANGE,
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DSHOT_COMMAND_NOT_VALID,
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DSHOT_BIDIR_NOT_ENABLED,
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DSHOT_TELEMETRY_FAILED,
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DSHOT_INVALID_MAGNET_COUNT,
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DSHOT_INVALID_COMMAND,
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DSHOT_TIMING_CORRECTION,
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DSHOT_INIT_FAILED,
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DSHOT_INIT_SUCCESS,
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DSHOT_TX_INIT_SUCCESS,
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DSHOT_RX_INIT_SUCCESS,
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DSHOT_ENCODER_INIT_SUCCESS,
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DSHOT_ENCODING_SUCCESS,
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DSHOT_TRANSMISSION_SUCCESS,
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DSHOT_TELEMETRY_SUCCESS,
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DSHOT_COMMAND_SUCCESS
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};
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// Contains the success status, an error code, and optional telemetry data.
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typedef struct dshot_result
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{
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bool success;
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dshot_msg_code_t result_code; // Specific error or success code.
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uint16_t erpm; // Electrical RPM (eRPM) if telemetry is successful.
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uint16_t motor_rpm; // Motor RPM if telemetry is successful and magnet count is known.
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} dshot_result_t;
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// Standard DShot commands by "betaflight"
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enum dshotCommands_e
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{
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DSHOT_CMD_MOTOR_STOP = 0,
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DSHOT_CMD_BEACON1,
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DSHOT_CMD_BEACON2,
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DSHOT_CMD_BEACON3,
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DSHOT_CMD_BEACON4,
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DSHOT_CMD_BEACON5,
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DSHOT_CMD_ESC_INFO,
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DSHOT_CMD_SPIN_DIRECTION_1,
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DSHOT_CMD_SPIN_DIRECTION_2,
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DSHOT_CMD_3D_MODE_OFF,
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DSHOT_CMD_3D_MODE_ON,
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DSHOT_CMD_SETTINGS_REQUEST,
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DSHOT_CMD_SAVE_SETTINGS,
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DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE,
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DSHOT_CMD_EXTENDED_TELEMETRY_DISABLE,
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DSHOT_CMD_SPIN_DIRECTION_NORMAL = 20,
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DSHOT_CMD_SPIN_DIRECTION_REVERSED = 21,
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DSHOT_CMD_LED0_ON,
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DSHOT_CMD_LED1_ON,
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DSHOT_CMD_LED2_ON,
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DSHOT_CMD_LED3_ON,
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DSHOT_CMD_LED0_OFF,
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DSHOT_CMD_LED1_OFF,
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DSHOT_CMD_LED2_OFF,
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DSHOT_CMD_LED3_OFF,
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DSHOT_CMD_AUDIO_STREAM_MODE_ON_OFF = 30,
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DSHOT_CMD_SILENT_MODE_ON_OFF = 31,
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DSHOT_CMD_MAX = 47
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};
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// Custom status codes
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static constexpr int DSHOT_OK = 0;
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static constexpr int DSHOT_ERROR = 1;
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// Configuration Constants
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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 DSHOT_CRC_MASK = 0b0000000000001111;
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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 = 8000000; // 8 MHz resolution
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static constexpr auto RMT_TICKS_PER_US = DSHOT_RMT_RESOLUTION / 1000000; // RMT Ticks per microsecond
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static constexpr auto DSHOT_RX_TIMEOUT_MS = 2;
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static constexpr auto DSHOT_PADDING_US = 20; // Pause between frames
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static constexpr auto RMT_BUFFER_SYMBOLS = 64;
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static constexpr auto RMT_QUEUE_DEPTH = 1;
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static constexpr auto GCR_BITS_PER_FRAME = 21; // GCR bits in a DShot answer frame
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static constexpr auto POLE_PAIRS_MIN = 1;
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static constexpr auto MAGNETS_PER_POLE_PAIR = 2;
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static constexpr auto NO_DSHOT_TELEMETRY = 0;
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static constexpr auto DSHOT_THROTTLE_MAX = 2047;
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static constexpr auto DSHOT_PULSE_MIN_NS = 800; // 0.8us minimum pulse
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static constexpr auto DSHOT_PULSE_MAX_NS = 8000; // 8.0us maximum pulse
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static constexpr auto DSHOT_TELEMETRY_INVALID = DSHOT_THROTTLE_MAX;
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static constexpr auto DSHOT_TELEMETRY_BIT_POSITION = 11;
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static constexpr auto DSHOT_CRC_BIT_SHIFT = 4;
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// Command Constants
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static constexpr auto DEFAULT_CMD_DELAY_US = 10;
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static constexpr auto DEFAULT_CMD_REPEAT_COUNT = 1;
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static constexpr auto SETTINGS_COMMAND_REPEATS = 10;
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static constexpr auto SETTINGS_COMMAND_DELAY_US = 5;
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// Timing parameters for each DShot mode
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const dshot_timing_us_t DSHOT_TIMING_US[] = {
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{0.00, 0.00}, // DSHOT_OFF
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{6.67, 5.00}, // DSHOT150
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{3.33, 2.50}, // DSHOT300
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{1.67, 1.25}, // DSHOT600
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{0.83, 0.67}, // DSHOT1200
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{0.00, 0.00} // DSHOT_MODE_MAX (dummy entry)
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};
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