DSHOT driver based on ChibiOS. More...

#include <ch.h>
#include <hal.h>
#include "mcu_periph/hal_stm32_dma.h"

Include dependency graph for esc_dshot.h:

This graph shows which files directly or indirectly include this file:

Data Structures
struct	DshotTelemetry
	telemetry packed as sent by some KISS ESC More...

struct	DSHOTConfig
	DSHOT Driver configuration structure. More...

union	DshotPacket

struct	DshotPackets

union	DshotDmaBuffer

struct	DSHOTDriver
	DSHOT driver structure. More...

union	DshotTelemetry.__unnamed__

struct	DshotTelemetry.__unnamed__.__unnamed__

struct	DshotPacket.__unnamed__

Macros
#define	DSHOT_AT_LEAST_ONE_32B_TIMER TRUE
	By default enable the possibility to mix 16 and 32 bits timer. More...

#define	DSHOT_BIT_WIDTHS 16
	DMA buffer size and number of channels. More...

#define	DSHOT_FRAME_SILENT_SYNC_BITS 4

#define	DSHOT_DMA_BUFFER_SIZE (DSHOT_BIT_WIDTHS+DSHOT_FRAME_SILENT_SYNC_BITS)

#define	DSHOT_CHANNELS 4

#define	DSHOT_ALL_MOTORS 255
	special value for index : send order to all channels More...

Typedefs
typedef struct DSHOTDriver	DSHOTDriver
	Type of a structure representing an DSHOT driver. More...

Enumerations
enum	dshotstate_t { DSHOT_UNINIT = 0, DSHOT_STOP, DSHOT_READY, DSHOT_ONGOING_TELEMETRY_QUERY, DSHOT_ERROR }
	Driver state machine possible states. More...

enum	dshot_special_commands_t { DSHOT_CMD_MOTOR_STOP = 0, DSHOT_CMD_BEACON1, DSHOT_CMD_BEACON2, DSHOT_CMD_BEACON3, DSHOT_CMD_BEACON4, DSHOT_CMD_BEACON5, DSHOT_CMD_ESC_INFO, DSHOT_CMD_SPIN_DIRECTION_1, DSHOT_CMD_SPIN_DIRECTION_2, DSHOT_CMD_3D_MODE_OFF, DSHOT_CMD_3D_MODE_ON, DSHOT_CMD_SETTINGS_REQUEST, DSHOT_CMD_SAVE_SETTINGS, DSHOT_CMD_SPIN_DIRECTION_NORMAL = 20, DSHOT_CMD_SPIN_DIRECTION_REVERSED = 21, DSHOT_CMD_LED0_ON, DSHOT_CMD_LED1_ON, DSHOT_CMD_LED2_ON, DSHOT_CMD_LED3_ON, DSHOT_CMD_LED0_OFF, DSHOT_CMD_LED1_OFF, DSHOT_CMD_LED2_OFF, DSHOT_CMD_LED3_OFF, DSHOT_CMD_AUDIO_STREAM_MODE_ON_OFF = 30, DSHOT_CMD_SILENT_MODE_ON_OFF = 31, DSHOT_CMD_MAX = 47 }
	DSHOT special commands (0-47) for KISS and BLHELI ESC. More...

Functions
void	dshotStart (DSHOTDriver driver, const DSHOTConfig config)
	Configures and activates the DSHOT peripheral. More...

void	dshotSetThrottle (DSHOTDriver *driver, const uint8_t index, const uint16_t throttle)
	prepare throttle order for specified ESC More...

void	dshotSendFrame (DSHOTDriver *driver)
	send throttle order More...

void	dshotSendThrottles (DSHOTDriver *driver, const uint16_t throttles[DSHOT_CHANNELS])
	send throttle packed order to all of the ESCs More...

void	dshotSendSpecialCommand (DSHOTDriver *driver, const uint8_t index, const dshot_special_commands_t specmd)
	send special order to one of the ESC (BHELIX, KISS, ...) More...

uint32_t	dshotGetCrcErrorsCount (DSHOTDriver *driver)
	return number of telemetry crc error since dshotStart More...

const DshotTelemetry *	dshotGetTelemetry (const DSHOTDriver *driver, const uint32_t index)
	return last received telemetry data More...

Detailed Description

DSHOT driver based on ChibiOS.

Author: Alexandre Bustico Gautier Hattenberger gauti.nosp@m.er.h.nosp@m.atten.nosp@m.berg.nosp@m.er@en.nosp@m.ac.f.nosp@m.r

Definition in file esc_dshot.h.

Data Structure Documentation

struct DshotTelemetry

telemetry packed as sent by some KISS ESC

Note: if other ESC use different binary representation in the future we'll have to add a little bit abstraction here

Definition at line 117 of file esc_dshot.h.

Data Fields
union DshotTelemetry	__unnamed__
uint8_t	crc8

struct DSHOTConfig

DSHOT Driver configuration structure.

Definition at line 141 of file esc_dshot.h.

Data Fields
uint8_t	dma_channel	: dma channel associated with pwm timer used to generate dshot output
uint32_t	dma_stream	: dma stream associated with pwm timer used to generate dshot output
PWMDriver *	pwmp	PWM driver that feed up to 4 dshot lines.
SerialDriver *	tlm_sd	if non null : dshot telemetry serial driver

union DshotPacket

Definition at line 182 of file esc_dshot.h.

Collaboration diagram for DshotPacket:

Data Fields
struct DshotPacket	__unnamed__
uint16_t	rawFrame

struct DshotPackets

Definition at line 191 of file esc_dshot.h.

Collaboration diagram for DshotPackets:

Data Fields
volatile uint8_t	currentTlmQry
DshotPacket	dp[DSHOT_CHANNELS]
DshotTelemetry	dt[DSHOT_CHANNELS]
volatile bool	onGoingQry

union DshotDmaBuffer

Definition at line 198 of file esc_dshot.h.

Data Fields
uint16_t	widths16[DSHOT_DMA_BUFFER_SIZE][DSHOT_CHANNELS]

union DshotTelemetry.__unnamed__

Definition at line 118 of file esc_dshot.h.

Data Fields
__unnamed__	__unnamed__
uint8_t	rawData[9]

struct DshotTelemetry.__unnamed__.__unnamed__

Definition at line 119 of file esc_dshot.h.

Data Fields
uint16_t	consumption
uint16_t	current
uint16_t	rpm
uint8_t	temp
uint16_t	voltage

struct DshotPacket.__unnamed__

Definition at line 183 of file esc_dshot.h.

Data Fields
uint16_t	crc: 4
uint16_t	telemetryRequest: 1
uint16_t	throttle: 11

Macro Definition Documentation

#define DSHOT_ALL_MOTORS 255

special value for index : send order to all channels

Note: could be used as index in dshotSetThrottle and dshotSendSpecialCommand functions

Definition at line 55 of file esc_dshot.h.

Referenced by dshotSendSpecialCommand(), and dshotSetThrottle().

#define DSHOT_AT_LEAST_ONE_32B_TIMER TRUE

By default enable the possibility to mix 16 and 32 bits timer.

Definition at line 40 of file esc_dshot.h.

#define DSHOT_BIT_WIDTHS 16

DMA buffer size and number of channels.

Definition at line 45 of file esc_dshot.h.

Referenced by buildDshotDmaBuffer().

#define DSHOT_CHANNELS 4

Definition at line 48 of file esc_dshot.h.

Referenced by buildDshotDmaBuffer(), dshotSendFrame(), dshotSendSpecialCommand(), dshotSendThrottles(), dshotSetThrottle(), and dshotStart().

#define DSHOT_DMA_BUFFER_SIZE (DSHOT_BIT_WIDTHS+DSHOT_FRAME_SILENT_SYNC_BITS)

Definition at line 47 of file esc_dshot.h.

Referenced by dshotSendFrame(), and dshotStart().

#define DSHOT_FRAME_SILENT_SYNC_BITS 4

Definition at line 46 of file esc_dshot.h.

Typedef Documentation

typedef struct DSHOTDriver DSHOTDriver

Type of a structure representing an DSHOT driver.

Definition at line 135 of file esc_dshot.h.

Enumeration Type Documentation

enum dshot_special_commands_t

DSHOT special commands (0-47) for KISS and BLHELI ESC.

Note: commands 48-2047 are used to send motor power

Enumerator
DSHOT_CMD_MOTOR_STOP
DSHOT_CMD_BEACON1
DSHOT_CMD_BEACON2
DSHOT_CMD_BEACON3
DSHOT_CMD_BEACON4
DSHOT_CMD_BEACON5
DSHOT_CMD_ESC_INFO
DSHOT_CMD_SPIN_DIRECTION_1
DSHOT_CMD_SPIN_DIRECTION_2
DSHOT_CMD_3D_MODE_OFF
DSHOT_CMD_3D_MODE_ON
DSHOT_CMD_SETTINGS_REQUEST
DSHOT_CMD_SAVE_SETTINGS
DSHOT_CMD_SPIN_DIRECTION_NORMAL
DSHOT_CMD_SPIN_DIRECTION_REVERSED
DSHOT_CMD_LED0_ON
DSHOT_CMD_LED1_ON
DSHOT_CMD_LED2_ON
DSHOT_CMD_LED3_ON
DSHOT_CMD_LED0_OFF
DSHOT_CMD_LED1_OFF
DSHOT_CMD_LED2_OFF
DSHOT_CMD_LED3_OFF
DSHOT_CMD_AUDIO_STREAM_MODE_ON_OFF
DSHOT_CMD_SILENT_MODE_ON_OFF
DSHOT_CMD_MAX

Definition at line 83 of file esc_dshot.h.

enum dshotstate_t

Driver state machine possible states.

Enumerator
DSHOT_UNINIT	Not initialized.
DSHOT_STOP	Stopped.
DSHOT_READY	Ready.
DSHOT_ONGOING_TELEMETRY_QUERY	Transfering.
DSHOT_ERROR	Transfert error.

Definition at line 60 of file esc_dshot.h.

Function Documentation

uint32_t dshotGetCrcErrorsCount ( DSHOTDriver * driver )

return number of telemetry crc error since dshotStart

Parameters

[in] driver pointer to the DSHOTDriver object

Returns: number of CRC errors

Definition at line 330 of file esc_dshot.c.

References DSHOTDriver::crc_errors.

const DshotTelemetry* dshotGetTelemetry	(	const DSHOTDriver *	driver,
		const uint32_t	index
	)

return last received telemetry data

Parameters

[in]	driver	pointer to the `DSHOTDriver` object
[in]	index	channel : [0..3] or [0..1] depending on driver used

Returns: pointer on a telemetry structure

Definition at line 343 of file esc_dshot.c.

References DSHOTDriver::dshotMotors, and DshotPackets::dt.

void dshotSendFrame ( DSHOTDriver * driver )

send throttle order

Parameters

[in] driver pointer to the DSHOTDriver object

Note: dshotSetXXX api should be called prior to this function

Definition at line 303 of file esc_dshot.c.

References buildDshotDmaBuffer(), DSHOTDriver::config, DshotPackets::currentTlmQry, DMA_READY, DSHOTDriver::dmap, dmaStartTransfert(), DshotPackets::dp, DSHOTDriver::dsdb, DSHOT_CHANNELS, DSHOT_DMA_BUFFER_SIZE, DSHOTDriver::dshotMotors, getTimerWidth(), DSHOTDriver::mb, DshotPackets::onGoingQry, DSHOTConfig::pwmp, setDshotPacketTlm(), DMADriver::state, and DSHOTConfig::tlm_sd.

Referenced by actuators_dshot_arch_commit(), dshotSendSpecialCommand(), and dshotSendThrottles().

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void dshotSendSpecialCommand	(	DSHOTDriver *	driver,
		const uint8_t	index,
		const dshot_special_commands_t	specmd
	)

send special order to one of the ESC (BHELIX, KISS, ...)

Parameters

[in]	driver	pointer to the `DSHOTDriver` object
[in]	index	channel : [0..3] or [0..1] depending on driver used
[in]	specmd	special commands, see enum

Definition at line 240 of file esc_dshot.c.

References DSHOTDriver::config, DshotPackets::dp, DSHOT_ALL_MOTORS, DSHOT_CHANNELS, DSHOT_CMD_3D_MODE_OFF, DSHOT_CMD_3D_MODE_ON, DSHOT_CMD_AUDIO_STREAM_MODE_ON_OFF, DSHOT_CMD_MAX, DSHOT_CMD_SAVE_SETTINGS, DSHOT_CMD_SETTINGS_REQUEST, DSHOT_CMD_SILENT_MODE_ON_OFF, DSHOT_CMD_SPIN_DIRECTION_1, DSHOT_CMD_SPIN_DIRECTION_2, DSHOTDriver::dshotMotors, dshotSendFrame(), setDshotPacketThrottle(), setDshotPacketTlm(), and DSHOTConfig::tlm_sd.

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void dshotSendThrottles	(	DSHOTDriver *	driver,
		const uint16_t	throttles[DSHOT_CHANNELS]
	)

send throttle packed order to all of the ESCs

Parameters

[in]	driver	pointer to the `DSHOTDriver` object
[in]	throttle[DSHOT_CHANNELS]	[48 .. 2047]

Note: dshotSendFrame is called by this function; telemetry bit is set in turn for each ESC of the ESCs

Definition at line 287 of file esc_dshot.c.

References DshotPackets::dp, DSHOT_CHANNELS, DSHOTDriver::dshotMotors, dshotSendFrame(), and setDshotPacketThrottle().

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void dshotSetThrottle	(	DSHOTDriver *	driver,
		const uint8_t	index,
		const uint16_t	throttle
	)

prepare throttle order for specified ESC

Parameters

[in]	driver	pointer to the `DSHOTDriver` object
[in]	index	channel : [0..3] or [0..1] depending on driver used
[in]	throttle	[48 .. 2047]

Note: dshotSendFrame has to be called after using this function; see also dshotSendThrottles

Definition at line 215 of file esc_dshot.c.

References DshotPackets::dp, DSHOT_ALL_MOTORS, DSHOT_CHANNELS, DSHOT_CMD_MAX, DSHOT_MAX_VALUE, DSHOTDriver::dshotMotors, Min, and setDshotPacketThrottle().

Referenced by actuators_dshot_arch_commit().

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void dshotStart	(	DSHOTDriver *	driver,
		const DSHOTConfig *	config
	)

Configures and activates the DSHOT peripheral.

Parameters

[in]	driver	pointer to the `DSHOTDriver` object
[in]	config	pointer to the `DSHOTConfig` object.

Definition at line 122 of file esc_dshot.c.

References DSHOTDriver::_mbBuf, ARRAY_LEN, config, DSHOTDriver::config, DSHOTDriver::crc_errors, DCR_DBA, DCR_DBL, DSHOTConfig::dma_channel, DSHOTDriver::dma_conf, DMA_DIR_M2P, DSHOTConfig::dma_stream, dmaObjectInit(), DSHOTDriver::dmap, dmaStart(), DshotPackets::dp, DSHOTDriver::dsdb, DSHOT_CHANNELS, DSHOT_DMA_BUFFER_SIZE, DSHOT_PWM_PERIOD, DSHOT_TELEMETRY_BAUD, DSHOTDriver::dshotMotors, dshotTlmRec(), getTimerWidth(), makeDshotPacket(), DSHOTDriver::mb, DSHOTDriver::pwm_conf, DSHOTConfig::pwmp, DMAConfig::stream, TICK_FREQ, TICKS_PER_PERIOD, and DSHOTConfig::tlm_sd.

Referenced by actuators_dshot_arch_init().

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Data Structures

Macros

Typedefs

Enumerations

Functions

Detailed Description

Data Structure Documentation

Macro Definition Documentation

Typedef Documentation

Enumeration Type Documentation

Function Documentation