*

2025-05-13 02:03:18 +03:00
parent 72860c7968
commit 90ef6120fd
463 changed files with 380758 additions and 2 deletions
@@ -0,0 +1,71 @@
+#pragma once
+
+#include <cstdint>
+
+namespace Driver::Esc::DShot {
+
+#define DSHOT1200_PWM_MHZ 24
+#define DSHOT600_PWM_MHZ 12
+#define DSHOT300_PWM_MHZ 6
+#define DSHOT150_PWM_MHZ 3
+
+#define DSHOT_BIT_0 7
+#define DSHOT_BIT_1 14
+#define DSHOT_BIT_LENGTH 20
+
+    inline constexpr std::uint16_t encodePacket(std::uint16_t throttleValue, bool requestTelemetry) {
+        //cap value
+        if (throttleValue > 2047) {
+            throttleValue = 2047;
+        }
+
+        //throttleValue = 11;
+
+        //add request telemetry bit
+        throttleValue = (throttleValue << 1) | (requestTelemetry ? 1 : 0);
+
+        bool useDshotTelemetry = false;
+
+        // compute checksum
+        uint16_t csum = 0;
+        uint16_t csum_data = throttleValue;
+        for (int i = 0; i < 3; i++) {
+            csum ^= csum_data;
+            csum_data >>= 4;
+        }
+
+        if (useDshotTelemetry) {
+            csum = ~csum;
+        }
+
+        //append checksum
+        throttleValue = (throttleValue << 4) | (csum & 0x0f);
+
+        return throttleValue;
+    }
+
+    template <class Word, std::uint8_t ZeroPaddingLength = 1>
+    class DmaBuffer {
+    public:
+        static constexpr std::uint8_t BufferSize = 16 + ZeroPaddingLength;
+        std::uint32_t size() const {
+            return BufferSize;
+        }
+        DmaBuffer() {
+            for (int i = 0; i < ZeroPaddingLength; ++i) {
+                _data[16 + i] = 0;
+            }
+        }
+        void fill(std::uint16_t packet) {
+            for (int i = 0; i < 16; ++i) {
+                _data[i] = (packet & (0x8000 >> i)) ? DSHOT_BIT_1 : DSHOT_BIT_0;
+            }
+        }
+        Word* data() {
+            return _data;
+        }
+
+    private:
+        Word _data[BufferSize];
+    };
+} // namespace Driver::Esc::DShot