137 lines
4.2 KiB
C
137 lines
4.2 KiB
C
/*
|
|
* SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD
|
|
*
|
|
* SPDX-License-Identifier: Unlicense OR CC0-1.0
|
|
*/
|
|
|
|
#include "freertos/FreeRTOS.h"
|
|
#include "freertos/task.h"
|
|
#include "esp_log.h"
|
|
#include "driver/rmt_tx.h"
|
|
#include "driver/gpio.h"
|
|
#include "dshot_esc_encoder.h"
|
|
|
|
#if CONFIG_IDF_TARGET_ESP32H2
|
|
#define DSHOT_ESC_RESOLUTION_HZ 32000000 // 32MHz resolution, DSHot protocol needs a relative high resolution
|
|
#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
|
|
|
|
static const char *TAG = "spincoat-plater-firmware";
|
|
|
|
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) {
|
|
throttle.telemetry_req = true;
|
|
vTaskDelayUntil(&last_wake_time, frequency);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* 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_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,
|
|
.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
|
|
};
|
|
ESP_ERROR_CHECK(rmt_new_tx_channel(&tx_chan_config, &esc_chan));
|
|
|
|
ESP_LOGI(TAG, "Install Dshot ESC encoder");
|
|
dshot_esc_encoder_config_t encoder_config = {
|
|
.resolution = DSHOT_ESC_RESOLUTION_HZ,
|
|
.baud_rate = 300000, // DSHOT300 protocol
|
|
.post_delay_us = 50, // extra delay between each frame
|
|
};
|
|
ESP_ERROR_CHECK(rmt_new_dshot_esc_encoder(&encoder_config, &dshot_encoder));
|
|
|
|
ESP_LOGI(TAG, "Enable RMT TX channel");
|
|
ESP_ERROR_CHECK(rmt_enable(esc_chan));
|
|
|
|
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));
|
|
|
|
if(throttle.telemetry_req == true) {
|
|
throttle.telemetry_req = false;
|
|
}
|
|
}
|
|
|
|
void app_main(void) {
|
|
init_rmt_esc_tx();
|
|
|
|
throttle.throttle = 200;
|
|
xTaskCreate(&v_telemetry_packet_func, "v_telemetry_packet_func", 2048, NULL, 5, NULL);
|
|
|
|
gpio_dump_io_configuration(stdout, (1ULL << 27));
|
|
|
|
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));
|
|
|
|
while(1) {
|
|
send_dshot_packet();
|
|
}
|
|
}
|