aruna::driver::ESP32_RMT_Dshot Class Reference

#include <ESP32_RMT_Dshot.h>

Inheritance diagram for aruna::driver::ESP32_RMT_Dshot:

Collaboration diagram for aruna::driver::ESP32_RMT_Dshot:

Public Member Functions
	ESP32_RMT_Dshot (rmt_channel_t channel, gpio_num_t gpio_port)
	Dshot150 using RMT hardware. More...
	~ESP32_RMT_Dshot ()
Public Member Functions inherited from aruna::driver::Dshot
	Dshot (uint32_t speed_hz=150000, bool bidirectional=false)
	Dshot parent object. More...
uint32_t	get_frequency ()
	get frequency of the driver More...
err_t	set_speed (int16_t speed)
	Set speed, use negative values to rotate in the other direction if bidirectional is enabled. More...
bool	get_bidirectional ()
	Is this Dshot driver birectional (can spin both ways) More...
void	set_bidirectional (bool is_bidirectional)
	Set bidirectional property of the driver. More...
void	arm_ESC ()
	Call the function after the constructor to arm the ESC. More...
	~Dshot ()
Public Member Functions inherited from aruna::movement::Actuator
	Actuator (axis_mask_t axis=axis_mask_t::NONE)
	Actuator object, used by the movement module for vehicle movement. More...
virtual	~Actuator ()
err_t	set_axis (axis_mask_t new_axis)
	Set the axis that this Actuator is capable in moving in. More...
axis_mask_t	get_axis ()
	get the movement modes that this driver supports. More...
err_t	set (axis_mask_t axisMask, int16_t speed)
	Set the speed of the motors directly. More...
uint16_t	get_speed ()
	Get the current speed of Actuator. More...

Private Member Functions
void	bits_to_dshotFrame (uint16_t bits, rmt_item32_t *frame_buffer)
	convert bits to rmt frame More...
void	update_task ()
	updates ESC with current dshot buffer, blocks CPU More...
err_t	_write_frame_continuous (uint16_t dshot_frame) override
	Write set Dshot frame continuously on the bus. More...
err_t	single_write (uint16_t dshot_frame)
	Write a single Dshot frame to the bus. More...

Static Private Member Functions
static void *	_update_task (void *_this)
	static function to help pthead More...

Private Attributes
uint16_t	T0H_ticks: 15
uint16_t	T1H_ticks: 15
uint16_t	T0L_ticks: 15
uint16_t	T1L_ticks: 15
pthread_mutex_t	dshot_frame_lock
pthread_t	update_handler
rmt_config_t	driver_config
uint16_t	dshot_frame = 0

Additional Inherited Members
Public Attributes inherited from aruna::movement::Actuator
err_t	startup_error = err_t::NOT_STARTED
	error when constructing gets put here, read before usage. More...
Static Protected Member Functions inherited from aruna::movement::Actuator
static double	convert_range (uint16_t input, float range_max=100.f, float range_min=0.f)
	Convert uint16 to a new range. More...
Protected Attributes inherited from aruna::driver::Dshot
uint16_t	T0H_ns
uint16_t	T1H_ns
uint16_t	T0L_ns
uint16_t	T1L_ns

Detailed Description

Definition at line 15 of file ESP32_RMT_Dshot.h.

Constructor & Destructor Documentation

ESP32_RMT_Dshot()

ESP32_RMT_Dshot::ESP32_RMT_Dshot	(	rmt_channel_t	channel,
		gpio_num_t	gpio_port
	)

Dshot150 using RMT hardware.

Parameters

channel,rmt	channel
gpio_port,gpio	port to send Dshot over.

Definition at line 9 of file ESP32_RMT_Dshot.cpp.

                                                                            {
    const static uint32_t PERF_CLK_HZ = 80000000;
//                TODO get the clock speed dynamicly
    const static uint8_t clk_div = 1;

//    config driver
    driver_config.channel = channel;
    driver_config.gpio_num = gpio_port;
    driver_config.rmt_mode = RMT_MODE_TX;
    driver_config.clk_div = clk_div;
    driver_config.mem_block_num = 1;
    driver_config.tx_config.loop_en = false;
    driver_config.tx_config.carrier_en = false;
    driver_config.tx_config.idle_level = RMT_IDLE_LEVEL_LOW;
    driver_config.tx_config.idle_output_en = false;

//        calculate ticks
    const static float ticks_per_second_in_nanosecond = ((float) PERF_CLK_HZ / (float) clk_div) / 1000000000;

    T0H_ticks = ticks_per_second_in_nanosecond * T0H_ns;
    T1H_ticks = ticks_per_second_in_nanosecond * T1H_ns;
    T0L_ticks = ticks_per_second_in_nanosecond * T0L_ns;
    T1L_ticks = ticks_per_second_in_nanosecond * T1L_ns;

    err_t rval;
    esp_err_t eerr;
    ESP_ERROR_CHECK(rmt_config(&driver_config));
    eerr = rmt_driver_install(driver_config.channel, 0, 0);
//    TODO make generic esp_err_t to aruna::err_t function?
    switch (eerr) {
        case ESP_OK:
            rval = err_t::OK;
            break;
        case ESP_ERR_INVALID_ARG:
            rval = err_t::INVALID_PARAMETERS;
            break;
        case ESP_FAIL:
        default:
            rval = err_t::FAIL;
            break;
    }
    //    start thread
    int p_mut, p_cre = 0;
    p_mut = pthread_mutex_init(&dshot_frame_lock, NULL);
    p_cre = pthread_create(&update_handler, NULL, _update_task, this);
    if (p_mut || p_cre)
        rval = err_t::TASK_FAILED;
    startup_error = rval;
}

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~ESP32_RMT_Dshot()

ESP32_RMT_Dshot::~ESP32_RMT_Dshot

(

)

Definition at line 59 of file ESP32_RMT_Dshot.cpp.

                                  {
    rmt_driver_uninstall(driver_config.channel);
    pthread_cancel(update_handler);
    pthread_mutex_destroy(&dshot_frame_lock);
}

Member Function Documentation

_update_task()

void * ESP32_RMT_Dshot::_update_task ( void *  _this )

staticprivate

static function to help pthead

Parameters

_this

Dshot object

Returns

0

Definition at line 76 of file ESP32_RMT_Dshot.cpp.

                                               {
    static_cast<ESP32_RMT_Dshot *>(_this)->update_task();
    return 0;
}

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_write_frame_continuous()

err_t ESP32_RMT_Dshot::_write_frame_continuous ( uint16_t  dshot_frame )

overrideprivatevirtual

Write set Dshot frame continuously on the bus.

Parameters

dshot_frame

Dhsot frame to send, already encoded in bits

Returns

• err_t::OK success
• err_t::FAIL on failure.

Implements aruna::driver::Dshot.

Definition at line 81 of file ESP32_RMT_Dshot.cpp.

                                                                   {
    pthread_mutex_lock(&dshot_frame_lock);
    this->dshot_frame = dshot_frame;
    pthread_mutex_unlock(&dshot_frame_lock);
    return err_t::OK;
}

bits_to_dshotFrame()

void aruna::driver::ESP32_RMT_Dshot::bits_to_dshotFrame ( uint16_t  bits, rmt_item32_t *  frame_buffer  )

private

convert bits to rmt frame

Parameters

bits	dshot package (16bit with speed, telemetry and CRC)
frame_buffer	array of 17 (to include 0 terminator)

single_write()

err_t ESP32_RMT_Dshot::single_write ( uint16_t  dshot_frame )

private

Write a single Dshot frame to the bus.

Parameters

dshot_frame

frame to be written

Returns

always err_t::OK

Definition at line 88 of file ESP32_RMT_Dshot.cpp.

                                                        {
    const static size_t rmt_size = 17;
    static rmt_item32_t rmt_frame[rmt_size];

    for (uint8_t i = 0; i < rmt_size - 1; ++i) {
        uint16_t i_bit = (dshot_frame >> (rmt_size - 2 - i)) & 0b1;
        uint16_t on_time = i_bit ? T1H_ticks : T0H_ticks;
        uint16_t off_time = i_bit ? T1L_ticks : T0L_ticks;

        rmt_frame[i] = {{{on_time, 1, off_time, 0}}};
    }
//    clear at the end
    rmt_frame[rmt_size - 1] = {{{0, 1, 0, 0}}};

    ESP_ERROR_CHECK(rmt_write_items(driver_config.channel, rmt_frame, rmt_size, true));
//    TODO return error.
    return err_t::OK;
}

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update_task()

void ESP32_RMT_Dshot::update_task ( )

private

updates ESC with current dshot buffer, blocks CPU

Definition at line 65 of file ESP32_RMT_Dshot.cpp.

                                  {

    while (true) {
        pthread_mutex_lock(&dshot_frame_lock);
        single_write(dshot_frame);
        pthread_mutex_unlock(&dshot_frame_lock);
        usleep(1);
    }

}

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Member Data Documentation

driver_config

rmt_config_t aruna::driver::ESP32_RMT_Dshot::driver_config

private

Definition at line 27 of file ESP32_RMT_Dshot.h.

dshot_frame

uint16_t aruna::driver::ESP32_RMT_Dshot::dshot_frame = 0

private

Definition at line 28 of file ESP32_RMT_Dshot.h.

dshot_frame_lock

pthread_mutex_t aruna::driver::ESP32_RMT_Dshot::dshot_frame_lock

private

Definition at line 24 of file ESP32_RMT_Dshot.h.

T0H_ticks

uint16_t aruna::driver::ESP32_RMT_Dshot::T0H_ticks

private

Definition at line 18 of file ESP32_RMT_Dshot.h.

T0L_ticks

uint16_t aruna::driver::ESP32_RMT_Dshot::T0L_ticks

private

Definition at line 20 of file ESP32_RMT_Dshot.h.

T1H_ticks

uint16_t aruna::driver::ESP32_RMT_Dshot::T1H_ticks

private

Definition at line 19 of file ESP32_RMT_Dshot.h.

T1L_ticks

uint16_t aruna::driver::ESP32_RMT_Dshot::T1L_ticks

private

Definition at line 21 of file ESP32_RMT_Dshot.h.

update_handler

pthread_t aruna::driver::ESP32_RMT_Dshot::update_handler

private

Definition at line 25 of file ESP32_RMT_Dshot.h.

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The documentation for this class was generated from the following files:

• include/aruna/driver/port/ESP32/ESP32_RMT_Dshot.h
• src/driver/port/ESP32/ESP32_RMT_Dshot.cpp