maddiefuzz/spincoat-plater-firmware
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Add UART rx, remove GPIO dependency, adjust timings

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maddiebaka
2025-11-30 22:45:36 -05:00
parent 6156dc3466
commit ab853333dc
3 changed files with 109 additions and 25 deletions
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2
main/CMakeLists.txt
View File

@@ -1,3 +1,3 @@
idf_component_register(SRCS "spincoat-plater-firmware.c" "dshot_esc_encoder.c"
PRIV_REQUIRES esp_driver_rmt esp_driver_gpio
PRIV_REQUIRES esp_driver_rmt esp_driver_uart
INCLUDE_DIRS ".")

12
main/Kconfig Normal file
View File

@@ -0,0 +1,12 @@
menu "Pin Mapping Configuration"
config ESC_CTRL_PIN
int "ESC control GPIO pin"
default 22
help
This is the pin used for sending DSHOT packets to the ESC.
config TELEMETRY_RX_PIN
int "ESC telemetry uart rx pin"
default 27
help
This is the pin used for receiving UART telemetry from the ESC.
endmenu

120
main/spincoat-plater-firmware.c
View File

@@ -4,11 +4,13 @@
* SPDX-License-Identifier: Unlicense OR CC0-1.0
*/
#include <inttypes.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_log.h"
#include "driver/rmt_tx.h"
#include "driver/gpio.h"
#include "driver/uart.h"
#include "dshot_esc_encoder.h"
#if CONFIG_IDF_TARGET_ESP32H2
@@ -16,11 +18,18 @@
#else
#define DSHOT_ESC_RESOLUTION_HZ 40000000 // 40MHz resolution, DSHot protocol needs a relative high resolution
#endif
#define DSHOT_ESC_GPIO_NUM 22
#define DSHOT_ESC_TELEMETRY_GPIO_NUM 27
#define GPIO_ESC_CTRL CONFIG_ESC_CTRL_PIN
#define GPIO_ESC_RX CONFIG_TELEMETRY_RX_PIN
#define UART_NUM UART_NUM_2
#define ESP_INTR_FLAG_DEFAULT 0
static const char *TAG = "spincoat-plater-firmware";
//static QueueHandle_t gpio_evt_queue = NULL;
static QueueHandle_t uart_queue = NULL;
const int uart_buffer_size = (1024 * 2);
rmt_encoder_handle_t dshot_encoder = NULL;
rmt_channel_handle_t esc_chan = NULL;
@@ -37,7 +46,7 @@ dshot_esc_throttle_t throttle = {
* 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 frequency = 10 / portTICK_PERIOD_MS;
TickType_t last_wake_time = xTaskGetTickCount();
while(1) {
throttle.telemetry_req = true;
@@ -63,7 +72,6 @@ void initialize_esc_throttle(void) {
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));
}
/**
@@ -73,7 +81,7 @@ void init_rmt_esc_tx(void) {
ESP_LOGI(TAG, "Create RMT TX channel");
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,
.gpio_num = GPIO_ESC_CTRL,
.mem_block_symbols = 64,
.resolution_hz = DSHOT_ESC_RESOLUTION_HZ,
.trans_queue_depth = 10, // set the number of transactions that can be pending in the background
@@ -95,6 +103,21 @@ void init_rmt_esc_tx(void) {
initialize_esc_throttle();
}
void init_telemetry_uart_rx(void) {
uart_config_t uart_config = {
.baud_rate = 115200,
.data_bits = UART_DATA_8_BITS,
.parity = UART_PARITY_DISABLE,
.stop_bits = UART_STOP_BITS_1,
.flow_ctrl = UART_HW_FLOWCTRL_CTS_RTS,
.rx_flow_ctrl_thresh = 122,
};
ESP_ERROR_CHECK(uart_driver_install(UART_NUM, uart_buffer_size, uart_buffer_size, 10, &uart_queue, 0));
ESP_ERROR_CHECK(uart_param_config(UART_NUM, &uart_config));
ESP_ERROR_CHECK(uart_set_pin(UART_NUM, UART_PIN_NO_CHANGE, GPIO_ESC_RX, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE));
}
/**
* Sends a DSHOT packet via the RMT. Make sure the RMT channel has been initialized
* by calling *init_rmt_esc_tx()*
@@ -107,30 +130,79 @@ void send_dshot_packet(void) {
}
}
/**
* Calculate one step of the crc8 and return it
*/
uint8_t update_crc8(uint8_t crc, uint8_t crc_seed){
uint8_t crc_u, i;
crc_u = crc;
crc_u ^= crc_seed;
for ( i=0; i<8; i++) crc_u = ( crc_u & 0x80 ) ? 0x7 ^ ( crc_u << 1 ) : ( crc_u << 1 );
return (crc_u);
}
/**
* Calculate the entire crc8 for a KISS frame and return it for validation against the
* transmitted crc8
*/
uint8_t get_crc8(uint8_t *Buf, uint8_t BufLen){
uint8_t crc = 0, i;
for( i=0; i<BufLen; i++) crc = update_crc8(Buf[i], crc);
return (crc);
}
/**
* Parse the KISS telemetry frame and check the crc8
* TODO: Do more with the data than print it
*/
void parse_telemetry(void) {
uint8_t frame_size = 10;
uint8_t data[128];
// get data
uint8_t length = uart_read_bytes(UART_NUM, data, frame_size, 100);
uart_flush(UART_NUM);
if(length < 10) return;
// chop out just the payload
uint8_t payload[128];
uint8_t payload_length = (frame_size - 1);
for(uint8_t i = 0; i < payload_length; i++) {
payload[i] = data[i];
}
// calculate the crc8
uint8_t expected_crc8 = get_crc8(payload, payload_length);
uint8_t received_crc8 = (uint8_t) data[frame_size - 1];
if(expected_crc8 != received_crc8) return;
for(uint8_t i = 0; i < length; i++) {
printf("%d - %d\n", i, data[i]);
}
printf("--------------------\n");
printf("expected: %d\n", expected_crc8);
printf("received: %d\n", received_crc8);
printf("======================\n");
}
void app_main(void) {
init_rmt_esc_tx();
throttle.throttle = 300;
throttle.throttle = 200;
xTaskCreate(&v_telemetry_packet_func, "v_telemetry_packet_func", 2048, NULL, 5, NULL);
gpio_dump_io_configuration(stdout, (1ULL << 27));
xTaskCreate(&v_telemetry_packet_func, "v_telemetry_packet_func", 2048, NULL, 1, NULL);
printf("==============================\n\n");
// Testing gpio setup
gpio_config_t io_conf = {};
io_conf.intr_type = GPIO_INTR_DISABLE;
io_conf.mode = GPIO_MODE_INPUT_OUTPUT;
io_conf.pin_bit_mask = (1ULL<<DSHOT_ESC_TELEMETRY_GPIO_NUM);
io_conf.pull_down_en = GPIO_PULLDOWN_ENABLE;
io_conf.pull_up_en = GPIO_PULLUP_DISABLE;
gpio_config(&io_conf);
gpio_dump_io_configuration(stdout, (1ULL << 27));
init_telemetry_uart_rx();
while(1) {
send_dshot_packet();
uint8_t length = 0;
ESP_ERROR_CHECK(uart_get_buffered_data_len(UART_NUM, (size_t*)&length));
if(length >= 10) {
parse_telemetry();
}
}
}