maddiefuzz/spincoat-plater-firmware
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Add RMT init, dshot, ESC arm & control logic

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maddiebaka
2025-11-22 12:53:02 -05:00
parent fd17b7daff
commit 9d69657046
1 changed files with 64 additions and 30 deletions
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94
main/spincoat-plater-firmware.c
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@@ -19,19 +19,56 @@
static const char *TAG = "spincoat-plater-firmware";
void v_echo_task_func(void *pvParameters) {
TickType_t frequency = 5000 / portTICK_PERIOD_MS; // 5000 ms
rmt_encoder_handle_t dshot_encoder = NULL;
rmt_channel_handle_t esc_chan = NULL;
rmt_transmit_config_t tx_config = {
.loop_count = 0,
};
dshot_esc_throttle_t throttle = {
.throttle = 0,
.telemetry_req = false, // telemetry is not supported in this example
};
/**
* Sends a telemetry packet at a set, constant interval
*/
void v_telemetry_packet_func(void *pvParameters) {
TickType_t frequency = 1000 / portTICK_PERIOD_MS;
TickType_t last_wake_time = xTaskGetTickCount();
while(1) {
printf("Hello from vEchoTaskFunction()\n");
throttle.telemetry_req = true;
vTaskDelayUntil(&last_wake_time, frequency);
}
}
void init_rmt_esc_tx(void)
{
/**
* Sends zero throttle to arm ESC for control. Stop/delete this task once the ESC has armed.
*/
void v_initialize_esc_throttle_func(void *pvParameters) {
while(1) {
ESP_ERROR_CHECK(rmt_transmit(esc_chan, dshot_encoder, &throttle, sizeof(throttle), &tx_config));
}
}
/**
* Starts task *v_initialize_esc_throttle_func()* for a few seconds and then destroys it.
* This function takes care of the arming stage of ESC control.
*/
void initialize_esc_throttle(void) {
TaskHandle_t v_init_throttle_handle = NULL;
xTaskCreate(&v_initialize_esc_throttle_func, "v_init_throttle_func", 2048, NULL, 5, &v_init_throttle_handle);
vTaskDelay(pdMS_TO_TICKS(5000));
vTaskDelete(v_init_throttle_handle);
vTaskDelay(pdMS_TO_TICKS(1000));
}
/**
* Initialize the RMT system in preparation for sending DSHOT packets to the connected ESC.
*/
void init_rmt_esc_tx(void) {
ESP_LOGI(TAG, "Create RMT TX channel");
rmt_channel_handle_t esc_chan = NULL;
rmt_tx_channel_config_t tx_chan_config = {
.clk_src = RMT_CLK_SRC_DEFAULT, // select a clock that can provide needed resolution
.gpio_num = DSHOT_ESC_GPIO_NUM,
@@ -42,7 +79,6 @@ void init_rmt_esc_tx(void)
ESP_ERROR_CHECK(rmt_new_tx_channel(&tx_chan_config, &esc_chan));
ESP_LOGI(TAG, "Install Dshot ESC encoder");
rmt_encoder_handle_t dshot_encoder = NULL;
dshot_esc_encoder_config_t encoder_config = {
.resolution = DSHOT_ESC_RESOLUTION_HZ,
.baud_rate = 300000, // DSHOT300 protocol
@@ -53,32 +89,30 @@ void init_rmt_esc_tx(void)
ESP_LOGI(TAG, "Enable RMT TX channel");
ESP_ERROR_CHECK(rmt_enable(esc_chan));
rmt_transmit_config_t tx_config = {
.loop_count = -1, // infinite loop
};
dshot_esc_throttle_t throttle = {
.throttle = 0,
.telemetry_req = false, // telemetry is not supported in this example
};
ESP_LOGI(TAG, "Start ESC by sending zero throttle for a while...");
initialize_esc_throttle();
}
/**
* Sends a DSHOT packet via the RMT. Make sure the RMT channel has been initialized
* by calling *init_rmt_esc_tx()*
*/
void send_dshot_packet(void) {
ESP_ERROR_CHECK(rmt_transmit(esc_chan, dshot_encoder, &throttle, sizeof(throttle), &tx_config));
vTaskDelay(pdMS_TO_TICKS(5000));
ESP_LOGI(TAG, "Increase throttle, no telemetry");
// Commented out esc driving example, working on other stuff for now
// for (uint16_t thro = 100; thro < 1000; thro += 10) {
// throttle.throttle = thro;
// ESP_ERROR_CHECK(rmt_transmit(esc_chan, dshot_encoder, &throttle, sizeof(throttle), &tx_config));
// // the previous loop transfer is till undergoing, we need to stop it and restart,
// // so that the new throttle can be updated on the output
// ESP_ERROR_CHECK(rmt_disable(esc_chan));
// ESP_ERROR_CHECK(rmt_enable(esc_chan));
// vTaskDelay(pdMS_TO_TICKS(1000));
// }
if(throttle.telemetry_req == true) {
throttle.telemetry_req = false;
printf("Set telemetry to false.\n");
}
}
void app_main(void) {
xTaskCreate(&v_echo_task_func, "v_echo_task_func", 2048, NULL, 5, NULL);
init_rmt_esc_tx();
throttle.throttle = 100;
xTaskCreate(&v_telemetry_packet_func, "v_telemetry_packet_func", 2048, NULL, 5, NULL);
while(1) {
send_dshot_packet();
}
}