dshot_erps.h

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#pragma once
 
#include <ch.h>
#include <hal.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
  typedef enum  {
    EDT_NOTEDT=0x0,
    EDT_TEMP=0x2, EDT_VOLT=0x4, EDT_CURRENT=0x6,
    EDT_DBG1=0x8, EDT_DBG2=0xA, EDT_STRESS=0xC,
    EDT_STATUS=0xE
  }  EdtType;
 
typedef enum  {
  EDT_STATUS_ALERT = 1<<7, EDT_STATUS_WARNING = 1<<6, EDT_STATUS_ERROR = 1<<5,
  EDT_STATUS_MAX_STRESS_MASK=0b111<1
  }  EdtStatus;
  
  
typedef union  {
  struct {
    uint16_t crc:4;
    uint16_t mantisse:9;
    uint16_t exponent:3;
  };
  uint16_t rawFrame;
} DshotEPeriodPacket;
 
typedef union  {
  struct {
    uint16_t crc:4;
    uint16_t edt_value:8;
    EdtType  edt_type:4;
  } ;
  uint16_t rawFrame;
} DshotEPeriodTelemetry;
 
_Static_assert(sizeof(DshotEPeriodPacket) == sizeof(uint16_t), "DshotEPeriodPacket size error");
_Static_assert(sizeof(DshotEPeriodTelemetry) == sizeof(uint16_t), "DshotEPeriodTelemetry size error");
 
 
  typedef struct {
    DshotEPeriodPacket ep; // 16 bits packet
    uint32_t       ef; // 21 bits frame
  } DshotErps;
  
  
  
  const DshotErps* DshotErpsSetFromFrame(DshotErps *derpsp, uint32_t frame);
  const DshotErps* DshotErpsSetFromRpm(DshotErps *derpsp, uint32_t rpm);
  uint32_t DshotErpsGetEperiod(const DshotErps *derpsp);
  uint32_t DshotErpsGetRpm(const DshotErps *derpsp);
  bool DshotErpsCheckCrc4(const DshotErps *derpsp);
 
  static inline uint32_t DshotErpsGetFrame(const DshotErps *derpsp) {return derpsp->ef;}
  static inline bool DshotErpsIsEdt(const DshotErps *derpsp)  {
    const DshotEPeriodTelemetry tm =  {.rawFrame = derpsp->ep.rawFrame};
    return 
      ((tm.edt_type & 0b0001) == 0) &&
      ((tm.edt_type & 0b1110) != 0);
  }
 
 static inline EdtType DshotErpsEdtType(const DshotErps *derpsp) {
  return (DshotEPeriodTelemetry) {.rawFrame = derpsp->ep.rawFrame}.edt_type;
}
static inline uint8_t DshotErpsEdtTempCentigrade(const DshotErps *derpsp) {
  return (DshotEPeriodTelemetry) {.rawFrame = derpsp->ep.rawFrame}.edt_value;
}
static inline uint16_t DshotErpsEdtCentiVolts(const DshotErps *derpsp) {
  return (DshotEPeriodTelemetry) {.rawFrame = derpsp->ep.rawFrame}.edt_value * 100U / 4U;
}
static inline uint16_t DshotErpsEdtCurrentAmp(const DshotErps *derpsp) {
  return (DshotEPeriodTelemetry) {.rawFrame = derpsp->ep.rawFrame}.edt_value;
}
 
static inline uint16_t DshotErpsEdtStress(const DshotErps *derpsp) {
  return (DshotEPeriodTelemetry) {.rawFrame = derpsp->ep.rawFrame}.edt_value;
}
 
static inline uint16_t DshotErpsEdtStatus(const DshotErps *derpsp) {
  return (DshotEPeriodTelemetry) {.rawFrame = derpsp->ep.rawFrame}.edt_value;
}
 
#ifdef __cplusplus
}
#endif