maddiebaka
36 lines
755 B
C
36 lines
755 B
C
#pragma once
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#include <inttypes.h>
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#include <stdbool.h>
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#if CONFIG_IDF_TARGET_ESP32H2
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#define DSHOT_ESC_RESOLUTION_HZ 32000000 // 32MHz resolution, DSHot protocol needs a relative high resolution
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#else
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#define DSHOT_ESC_RESOLUTION_HZ 40000000 // 40MHz resolution, DSHot protocol needs a relative high resolution
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#endif
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#define ESC_UART_NUM UART_NUM_2
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/**
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* Struct for returning telemetry data
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*/
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typedef struct {
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uint16_t temperature;
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uint16_t voltage;
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uint16_t current;
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uint16_t consumption;
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uint16_t rpm;
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} esc_telemetry_t;
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void init_rmt_esc_tx(void);
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void send_dshot_packet(void);
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bool parse_telemetry(esc_telemetry_t * telemetry);
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void init_motor(void);
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uint16_t get_throttle(void);
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void update_throttle(uint16_t throttle);
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