dshot_erps.h File Reference

#include <ch.h>
#include <hal.h>

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Data Structures
union	DshotEPeriodPacket
	ERPS classic rpm frame. More...
union	DshotEPeriodTelemetry
	ERPS telemetry frame. More...
struct	DshotErps
	ERPS complete frame, raw and decoded. More...
struct	DshotEPeriodPacket.__unnamed2__
struct	DshotEPeriodTelemetry.__unnamed4__

Enumerations
enum	EdtType {   EDT_NOTEDT =0x0 , EDT_TEMP =0x2 , EDT_VOLT =0x4 , EDT_CURRENT =0x6 ,   EDT_DBG1 =0x8 , EDT_DBG2 =0xA , EDT_STRESS =0xC , EDT_STATUS =0xE }
	ERPS telemetry type. More...
enum	EdtStatus { EDT_STATUS_ALERT = 1<<7 , EDT_STATUS_WARNING = 1<<6 , EDT_STATUS_ERROR = 1<<5 }

Functions
	_Static_assert (sizeof(DshotEPeriodPacket)==sizeof(uint16_t), "DshotEPeriodPacket size error")
	_Static_assert (sizeof(DshotEPeriodTelemetry)==sizeof(uint16_t), "DshotEPeriodTelemetry size error")
const DshotErps *	DshotErpsSetFromFrame (DshotErps *derpsp, uint32_t frame)
	initialise from GCR encoded frame More...
const DshotErps *	DshotErpsSetFromRpm (DshotErps *derpsp, uint32_t rpm)
	initialise from rpm value More...
uint32_t	DshotErpsGetEperiod (const DshotErps *derpsp)
	return eperiod from mantisse and exponent More...
uint32_t	DshotErpsGetRpm (const DshotErps *derpsp)
	calculate and return rpm More...
bool	DshotErpsCheckCrc4 (const DshotErps *derpsp)
	check packed validity More...
static uint32_t	DshotErpsGetFrame (const DshotErps *derpsp)
	return encoded frame More...
static bool	DshotErpsIsEdt (const DshotErps *derpsp)
	return true if current frame is a telemetry frame More...
static EdtType	DshotErpsEdtType (const DshotErps *derpsp)
	return type of a telemetry frame More...
static uint8_t	DshotErpsEdtTempCentigrade (const DshotErps *derpsp)
	return temperature for a temperature telemetry frame More...
static uint16_t	DshotErpsEdtCentiVolts (const DshotErps *derpsp)
	return voltage for a voltage telemetry frame More...
static uint16_t	DshotErpsEdtCurrentAmp (const DshotErps *derpsp)
	return current intensity for a current telemetry frame More...
static uint16_t	DshotErpsEdtStress (const DshotErps *derpsp)
	return stress value More...
static uint16_t	DshotErpsEdtStatus (const DshotErps *derpsp)
	return status value More...

---

Data Structure Documentation

DshotEPeriodPacket

union DshotEPeriodPacket

ERPS classic rpm frame.

Definition at line 30 of file dshot_erps.h.

Collaboration diagram for DshotEPeriodPacket:

Data Fields
struct DshotEPeriodPacket	__unnamed__
uint16_t	rawFrame

DshotEPeriodTelemetry

union DshotEPeriodTelemetry

ERPS telemetry frame.

Definition at line 42 of file dshot_erps.h.

Collaboration diagram for DshotEPeriodTelemetry:

Data Fields
struct DshotEPeriodTelemetry	__unnamed__
uint16_t	rawFrame

DshotErps

struct DshotErps

ERPS complete frame, raw and decoded.

Definition at line 58 of file dshot_erps.h.

Collaboration diagram for DshotErps:

Data Fields
uint32_t	ef
DshotEPeriodPacket	ep

DshotEPeriodPacket.__unnamed2__

struct DshotEPeriodPacket.__unnamed2__

Definition at line 31 of file dshot_erps.h.

Data Fields
uint16_t	crc:4
uint16_t	exponent:3
uint16_t	mantisse:9

DshotEPeriodTelemetry.__unnamed4__

struct DshotEPeriodTelemetry.__unnamed4__

Definition at line 43 of file dshot_erps.h.

Data Fields
uint16_t	crc:4
EdtType	edt_type:4
uint16_t	edt_value:8

Enumeration Type Documentation

EdtStatus

enum EdtStatus

Enumerator
EDT_STATUS_ALERT
EDT_STATUS_WARNING
EDT_STATUS_ERROR

Definition at line 21 of file dshot_erps.h.

EdtType

enum EdtType

ERPS telemetry type.

Note

last (as of mid 2022) addition to the dshot bidir protocol

Enumerator
EDT_NOTEDT
EDT_TEMP
EDT_VOLT
EDT_CURRENT
EDT_DBG1
EDT_DBG2
EDT_STRESS
EDT_STATUS

Definition at line 14 of file dshot_erps.h.

Function Documentation

_Static_assert() [1/2]

_Static_assert	(	sizeof(DshotEPeriodPacket)	= =sizeof(uint16_t),
		"DshotEPeriodPacket size error"
	)

Referenced by mtostk_populate_float_array_from_buffer().

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_Static_assert() [2/2]

_Static_assert	(	sizeof(DshotEPeriodTelemetry)	= =sizeof(uint16_t),
		"DshotEPeriodTelemetry size error"
	)

DshotErpsCheckCrc4()

bool DshotErpsCheckCrc4

(

const DshotErps *

derpsp

)

check packed validity

Parameters

[in]

derpsp

pointer to the DshotErps object

Returns

true if CRC is OK @api

Definition at line 99 of file dshot_erps.c.

References crc4(), DshotErps::ep, and DshotEPeriodPacket::rawFrame.

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DshotErpsEdtCentiVolts()

static uint16_t DshotErpsEdtCentiVolts ( const DshotErps *  derpsp )

inlinestatic

return voltage for a voltage telemetry frame

Parameters

[in]

derpsp

pointer to the DshotErps object @api

Definition at line 115 of file dshot_erps.h.

References DshotErps::ep, and DshotEPeriodPacket::rawFrame.

DshotErpsEdtCurrentAmp()

static uint16_t DshotErpsEdtCurrentAmp ( const DshotErps *  derpsp )

inlinestatic

return current intensity for a current telemetry frame

Parameters

[in]

derpsp

pointer to the DshotErps object @api

Definition at line 124 of file dshot_erps.h.

References DshotErps::ep, and DshotEPeriodPacket::rawFrame.

DshotErpsEdtStatus()

static uint16_t DshotErpsEdtStatus ( const DshotErps *  derpsp )

inlinestatic

return status value

Parameters

[in]

derpsp

pointer to the DshotErps object @api

Definition at line 144 of file dshot_erps.h.

References DshotErps::ep, and DshotEPeriodPacket::rawFrame.

DshotErpsEdtStress()

static uint16_t DshotErpsEdtStress ( const DshotErps *  derpsp )

inlinestatic

return stress value

Parameters

[in]

derpsp

pointer to the DshotErps object @api

Definition at line 134 of file dshot_erps.h.

References DshotErps::ep, and DshotEPeriodPacket::rawFrame.

DshotErpsEdtTempCentigrade()

static uint8_t DshotErpsEdtTempCentigrade ( const DshotErps *  derpsp )

inlinestatic

return temperature for a temperature telemetry frame

Parameters

[in]

derpsp

pointer to the DshotErps object @api

Definition at line 106 of file dshot_erps.h.

References DshotErps::ep, and DshotEPeriodPacket::rawFrame.

DshotErpsEdtType()

static EdtType DshotErpsEdtType ( const DshotErps *  derpsp )

inlinestatic

return type of a telemetry frame

Parameters

[in]

derpsp

pointer to the DshotErps object @api

Definition at line 97 of file dshot_erps.h.

References DshotErps::ep, and DshotEPeriodPacket::rawFrame.

DshotErpsGetEperiod()

uint32_t DshotErpsGetEperiod

(

const DshotErps *

derpsp

)

return eperiod from mantisse and exponent

Parameters

[in]

derpsp

pointer to the DshotErps object

Returns

eperiod in microseconds

Note

getEperiod avoid a division and is more cpu friendly than getRpm

Definition at line 72 of file dshot_erps.c.

References DshotErps::ep.

Referenced by DshotErpsGetRpm().

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DshotErpsGetFrame()

static uint32_t DshotErpsGetFrame ( const DshotErps *  derpsp )

inlinestatic

return encoded frame

Parameters

[in]

derpsp

pointer to the DshotErps object @api

Definition at line 77 of file dshot_erps.h.

References DshotErps::ef.

DshotErpsGetRpm()

uint32_t DshotErpsGetRpm

(

const DshotErps *

derpsp

)

calculate and return rpm

Parameters

[in]

derpsp

pointer to the DshotErps object

Returns

rotational speed in RPM

Note

involve a division, which is a cpu cycle hog, If you can use getEperiod instead, it will be less calculus intensive @api

Definition at line 87 of file dshot_erps.c.

References DshotErpsGetEperiod().

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DshotErpsIsEdt()

static bool DshotErpsIsEdt ( const DshotErps *  derpsp )

inlinestatic

return true if current frame is a telemetry frame

Parameters

[in]

derpsp

pointer to the DshotErps object @api

Definition at line 84 of file dshot_erps.h.

References DshotErps::ep, DshotEPeriodPacket::rawFrame, and DshotEPeriodTelemetry::rawFrame.

DshotErpsSetFromFrame()

const DshotErps* DshotErpsSetFromFrame	(	DshotErps *	derpsp,
		uint32_t	frame
	)

initialise from GCR encoded frame

Parameters

[in]

derpsp

pointer to the DshotErps object @api

Definition at line 44 of file dshot_erps.c.

References DshotErps::ef, frame, and frameToPacket().

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DshotErpsSetFromRpm()

const DshotErps* DshotErpsSetFromRpm	(	DshotErps *	derpsp,
		uint32_t	rpm
	)

initialise from rpm value

Parameters

[in]

derpsp

pointer to the DshotErps object @api

Definition at line 57 of file dshot_erps.c.

References rpm, and setFromEperiod().

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