119 lines
3.7 KiB
C
119 lines
3.7 KiB
C
/*
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* SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Unlicense OR CC0-1.0
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*/
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_log.h"
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#include "driver/rmt_tx.h"
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#include "dshot_esc_encoder.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 DSHOT_ESC_GPIO_NUM 22
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static const char *TAG = "spincoat-plater-firmware";
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rmt_encoder_handle_t dshot_encoder = NULL;
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rmt_channel_handle_t esc_chan = NULL;
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rmt_transmit_config_t tx_config = {
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.loop_count = 0,
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};
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dshot_esc_throttle_t throttle = {
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.throttle = 0,
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.telemetry_req = false, // telemetry is not supported in this example
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};
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/**
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* Sends a telemetry packet at a set, constant interval
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*/
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void v_telemetry_packet_func(void *pvParameters) {
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TickType_t frequency = 1000 / portTICK_PERIOD_MS;
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TickType_t last_wake_time = xTaskGetTickCount();
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while(1) {
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throttle.telemetry_req = true;
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vTaskDelayUntil(&last_wake_time, frequency);
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}
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}
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/**
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* Sends zero throttle to arm ESC for control. Stop/delete this task once the ESC has armed.
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*/
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void v_initialize_esc_throttle_func(void *pvParameters) {
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while(1) {
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ESP_ERROR_CHECK(rmt_transmit(esc_chan, dshot_encoder, &throttle, sizeof(throttle), &tx_config));
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}
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}
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/**
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* Starts task *v_initialize_esc_throttle_func()* for a few seconds and then destroys it.
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* This function takes care of the arming stage of ESC control.
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*/
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void initialize_esc_throttle(void) {
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TaskHandle_t v_init_throttle_handle = NULL;
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xTaskCreate(&v_initialize_esc_throttle_func, "v_init_throttle_func", 2048, NULL, 5, &v_init_throttle_handle);
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vTaskDelay(pdMS_TO_TICKS(5000));
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vTaskDelete(v_init_throttle_handle);
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vTaskDelay(pdMS_TO_TICKS(1000));
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}
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/**
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* Initialize the RMT system in preparation for sending DSHOT packets to the connected ESC.
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*/
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void init_rmt_esc_tx(void) {
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ESP_LOGI(TAG, "Create RMT TX channel");
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rmt_tx_channel_config_t tx_chan_config = {
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.clk_src = RMT_CLK_SRC_DEFAULT, // select a clock that can provide needed resolution
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.gpio_num = DSHOT_ESC_GPIO_NUM,
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.mem_block_symbols = 64,
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.resolution_hz = DSHOT_ESC_RESOLUTION_HZ,
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.trans_queue_depth = 10, // set the number of transactions that can be pending in the background
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};
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ESP_ERROR_CHECK(rmt_new_tx_channel(&tx_chan_config, &esc_chan));
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ESP_LOGI(TAG, "Install Dshot ESC encoder");
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dshot_esc_encoder_config_t encoder_config = {
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.resolution = DSHOT_ESC_RESOLUTION_HZ,
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.baud_rate = 300000, // DSHOT300 protocol
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.post_delay_us = 50, // extra delay between each frame
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};
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ESP_ERROR_CHECK(rmt_new_dshot_esc_encoder(&encoder_config, &dshot_encoder));
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ESP_LOGI(TAG, "Enable RMT TX channel");
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ESP_ERROR_CHECK(rmt_enable(esc_chan));
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ESP_LOGI(TAG, "Start ESC by sending zero throttle for a while...");
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initialize_esc_throttle();
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}
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/**
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* Sends a DSHOT packet via the RMT. Make sure the RMT channel has been initialized
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* by calling *init_rmt_esc_tx()*
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*/
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void send_dshot_packet(void) {
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ESP_ERROR_CHECK(rmt_transmit(esc_chan, dshot_encoder, &throttle, sizeof(throttle), &tx_config));
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if(throttle.telemetry_req == true) {
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throttle.telemetry_req = false;
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printf("Set telemetry to false.\n");
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}
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}
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void app_main(void) {
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init_rmt_esc_tx();
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throttle.throttle = 100;
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xTaskCreate(&v_telemetry_packet_func, "v_telemetry_packet_func", 2048, NULL, 5, NULL);
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while(1) {
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send_dshot_packet();
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}
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}
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