actuators_dshot.h File Reference

#include "std.h"
#include "modules/actuators/actuators_dshot_arch.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. More...
#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. More...
#define	ActuatorDShotSet(_i, _v)
#define	ActuatorsDShotInit()   actuators_dshot_arch_init()
#define	ActuatorsDShotCommit()   actuators_dshot_arch_commit()

Functions
void	actuators_dshot_arch_init (void)
	Arch dependent init. More...
void	actuators_dshot_arch_commit (void)

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 49 of file actuators_dshot.h.

Data Fields
bool	activated	current dshot channel is activated
float	cmd	command
float	current	current
float	rpm	rpm
float	voltage	motor current

Macro Definition Documentation

ActuatorDShotSet

#define ActuatorDShotSet	(		_i,
			_v
	)

Value:

 { \
 if (_v == 0) { actuators_dshot_values[_i].cmd  = 0; } \
 else { actuators_dshot_values[_i].cmd = _v + ACTUATORS_DSHOT_OFFSET; } \
}

Definition at line 65 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 46 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 38 of file actuators_dshot.h.

ActuatorsDShotCommit

#define ActuatorsDShotCommit

(

)

actuators_dshot_arch_commit()

Definition at line 70 of file actuators_dshot.h.

ActuatorsDShotInit

#define ActuatorsDShotInit

(

)

actuators_dshot_arch_init()

Definition at line 69 of file actuators_dshot.h.

Function Documentation

actuators_dshot_arch_commit()

void actuators_dshot_arch_commit

(

void

)

Definition at line 300 of file actuators_dshot_arch.c.

References ACT_FEEDBACK_DSHOT_ID, ACTUATORS_DSHOT_NB, actuators_dshot_private, actuators_dshot_values, DSHOT_BIDIR_ERR_CRC, DSHOT_BIDIR_TLM_EDT, DSHOT_SERVO_0, DSHOT_SERVO_0_CHANNEL, DSHOT_SERVO_0_DRIVER, DSHOT_SERVO_1, DSHOT_SERVO_10, DSHOT_SERVO_10_CHANNEL, DSHOT_SERVO_10_DRIVER, DSHOT_SERVO_1_CHANNEL, DSHOT_SERVO_1_DRIVER, DSHOT_SERVO_2, DSHOT_SERVO_2_CHANNEL, DSHOT_SERVO_2_DRIVER, DSHOT_SERVO_3, DSHOT_SERVO_3_CHANNEL, DSHOT_SERVO_3_DRIVER, DSHOT_SERVO_4, DSHOT_SERVO_4_CHANNEL, DSHOT_SERVO_4_DRIVER, DSHOT_SERVO_5, DSHOT_SERVO_5_CHANNEL, DSHOT_SERVO_5_DRIVER, DSHOT_SERVO_7, DSHOT_SERVO_7_CHANNEL, DSHOT_SERVO_7_DRIVER, DSHOT_SERVO_8, DSHOT_SERVO_8_CHANNEL, DSHOT_SERVO_8_DRIVER, DSHOT_SERVO_9, DSHOT_SERVO_9_CHANNEL, DSHOT_SERVO_9_DRIVER, dshotGetTelemetry(), dshotSendFrame(), dshotSetThrottle(), DshotTelemetry::frame, act_feedback_t::idx, act_feedback_t::act_feedback_set_t::rpm, act_feedback_t::rpm, and act_feedback_t::set.

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actuators_dshot_arch_init()

void actuators_dshot_arch_init

(

void

)

Arch dependent init.

Definition at line 162 of file actuators_dshot_arch.c.

References ACTUATORS_DSHOT_NB, actuators_dshot_private, actuators_dshot_values, CONCAT_GPIO, DefaultPeriodic, dshot_init_struct(), DSHOT_SERVO_0, DSHOT_SERVO_0_AF, DSHOT_SERVO_0_CHANNEL, DSHOT_SERVO_0_DRIVER, DSHOT_SERVO_0_GPIO, DSHOT_SERVO_0_PIN, DSHOT_SERVO_1, DSHOT_SERVO_10, DSHOT_SERVO_10_AF, DSHOT_SERVO_10_CHANNEL, DSHOT_SERVO_10_DRIVER, DSHOT_SERVO_10_GPIO, DSHOT_SERVO_10_PIN, DSHOT_SERVO_1_AF, DSHOT_SERVO_1_CHANNEL, DSHOT_SERVO_1_DRIVER, DSHOT_SERVO_1_GPIO, DSHOT_SERVO_1_PIN, DSHOT_SERVO_2, DSHOT_SERVO_2_AF, DSHOT_SERVO_2_CHANNEL, DSHOT_SERVO_2_DRIVER, DSHOT_SERVO_2_GPIO, DSHOT_SERVO_2_PIN, DSHOT_SERVO_3, DSHOT_SERVO_3_AF, DSHOT_SERVO_3_CHANNEL, DSHOT_SERVO_3_DRIVER, DSHOT_SERVO_3_GPIO, DSHOT_SERVO_3_PIN, DSHOT_SERVO_4, DSHOT_SERVO_4_AF, DSHOT_SERVO_4_CHANNEL, DSHOT_SERVO_4_DRIVER, DSHOT_SERVO_4_GPIO, DSHOT_SERVO_4_PIN, DSHOT_SERVO_5, DSHOT_SERVO_5_AF, DSHOT_SERVO_5_CHANNEL, DSHOT_SERVO_5_DRIVER, DSHOT_SERVO_5_GPIO, DSHOT_SERVO_5_PIN, DSHOT_SERVO_7, DSHOT_SERVO_7_AF, DSHOT_SERVO_7_CHANNEL, DSHOT_SERVO_7_DRIVER, DSHOT_SERVO_7_GPIO, DSHOT_SERVO_7_PIN, DSHOT_SERVO_8, DSHOT_SERVO_8_AF, DSHOT_SERVO_8_CHANNEL, DSHOT_SERVO_8_DRIVER, DSHOT_SERVO_8_GPIO, DSHOT_SERVO_8_PIN, DSHOT_SERVO_9, DSHOT_SERVO_9_AF, DSHOT_SERVO_9_CHANNEL, DSHOT_SERVO_9_DRIVER, DSHOT_SERVO_9_GPIO, DSHOT_SERVO_9_PIN, dshot_set_struct(), dshotStart(), esc_msg_send(), FALSE, gpio_setup_pin_af(), gpio_setup_pin_af_pullup(), PRINT_CONFIG_VAR(), and register_periodic_telemetry().

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Variable Documentation

actuators_dshot_values

struct dshot actuators_dshot_values[ACTUATORS_DSHOT_NB]

extern

Definition at line 1 of file actuators_dshot_arch.c.

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