actuators_dshot.h File Reference

#include "std.h"

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Data Structures
struct	dshot

Macros
#define	ACTUATORS_DSHOT_OFFSET   48
	In normal DSHOT, first 48 values are special commands this offset allow to use 0 as the no-throttle command This should not be changed unless you know what you are doing.
#define	ACTUATORS_DSHOT_NB   (8+1)
	Maxnum number of DSHOT commands This should be large enough for max applications: 8 motors +1 in case motor count starts at 1 and not 0.
#define	ActuatorDShotSet   actuators_dshot_set
#define	ActuatorsDShotInit   actuators_dshot_arch_init
#define	ActuatorsDShotCommit   actuators_dshot_arch_commit

Functions
void	actuators_dshot_arch_init (void)
	Arch dependent init.
void	actuators_dshot_arch_commit (void)
void	actuators_dshot_set (uint8_t idx, int16_t value)

Variables
struct dshot	actuators_dshot_values [ACTUATORS_DSHOT_NB]

Detailed Description

Author

Gautier Hattenberger Driver for DSHOT speed controller protocol

Definition in file actuators_dshot.h.

---

Data Structure Documentation

dshot

struct dshot

Definition at line 48 of file actuators_dshot.h.

Data Fields
bool	activated	current dshot channel is activated
float	cmd	command
float	current	current
float	energy	energy (from dshot telemetry)
float	rpm	rpm
float	temp	temperature
float	voltage	motor current

Macro Definition Documentation

ActuatorDShotSet

#define ActuatorDShotSet   actuators_dshot_set

Definition at line 67 of file actuators_dshot.h.

ACTUATORS_DSHOT_NB

#define ACTUATORS_DSHOT_NB   (8+1)

Maxnum number of DSHOT commands This should be large enough for max applications: 8 motors +1 in case motor count starts at 1 and not 0.

Definition at line 45 of file actuators_dshot.h.

ACTUATORS_DSHOT_OFFSET

#define ACTUATORS_DSHOT_OFFSET   48

In normal DSHOT, first 48 values are special commands this offset allow to use 0 as the no-throttle command This should not be changed unless you know what you are doing.

Definition at line 37 of file actuators_dshot.h.

ActuatorsDShotCommit

#define ActuatorsDShotCommit   actuators_dshot_arch_commit

Definition at line 69 of file actuators_dshot.h.

ActuatorsDShotInit

#define ActuatorsDShotInit   actuators_dshot_arch_init

Definition at line 68 of file actuators_dshot.h.

Function Documentation

actuators_dshot_arch_commit()

void actuators_dshot_arch_commit ( void  )

extern

Definition at line 291 of file actuators_dshot_arch.c.

References ACT_FEEDBACK_DSHOT_ID, ACTUATORS_DSHOT_NB, actuators_dshot_private, actuators_dshot_values, dshot::current, DSHOT_BIDIR_ERR_CRC, DSHOT_BIDIR_TLM_EDT, DSHOT_MOTOR_POLES, dshotGetTelemetry(), dshotSendFrame(), dshotSetThrottle(), dshot::energy, foo, act_feedback_t::idx, act_feedback_t::act_feedback_set_t::rpm, act_feedback_t::rpm, dshot::rpm, rpm, act_feedback_t::set, dshot::temp, and dshot::voltage.

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actuators_dshot_arch_init()

void actuators_dshot_arch_init ( void  )

extern

Arch dependent init.

Definition at line 153 of file actuators_dshot_arch.c.

References ACTUATORS_DSHOT_NB, actuators_dshot_private, actuators_dshot_values, CONCAT_GPIO, DefaultPeriodic, dshot_init_struct(), dshot_set_struct(), dshotStart(), esc_msg_send(), FALSE, foo, gpio_setup_pin_af(), gpio_setup_pin_af_pullup(), PRINT_CONFIG_VAR(), and register_periodic_telemetry().

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actuators_dshot_set()

void actuators_dshot_set ( uint8_t  idx, int16_t  value  )

extern

Definition at line 30 of file actuators_dshot.c.

References ACTUATORS_DSHOT_OFFSET, actuators_dshot_values, dshot::cmd, and idx.

Variable Documentation

actuators_dshot_values

struct dshot actuators_dshot_values[ACTUATORS_DSHOT_NB]

extern

Definition at line 28 of file actuators_dshot.c.

Referenced by actuators_dshot_arch_commit(), actuators_dshot_arch_init(), actuators_dshot_set(), and esc_msg_send().