drv_dshot.h

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#ifndef __DRV_DSHOT_H__
#define __DRV_DSHOT_H__
 
/* Defines */
#define TIMER_CLOCK             108000000   // 108MHz
 
#define MHZ_TO_HZ(x)            ((x) * 1000000)
 
#define DSHOT600_HZ             MHZ_TO_HZ(108)
#define DSHOT300_HZ             MHZ_TO_HZ(54)
#define DSHOT150_HZ             MHZ_TO_HZ(27)
 
#define MOTOR_BIT_0             60
#define MOTOR_BIT_1             120
#define MOTOR_BITLENGTH         180
 
#define DSHOT_FRAME_SIZE        16
#define DSHOT_DMA_BUFFER_SIZE   18 /* resolution + frame reset (2us) */
 
#define DSHOT_MIN_THROTTLE      48
#define DSHOT_MAX_THROTTLE      2047
#define DSHOT_RANGE             (DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE)
 
#define DSHOT_ARM_COUNT         1500
#define DSHOT_SETTINGS_COUNT    10
 
/* Global Enums */
typedef enum
{
    DSHOT150,
    DSHOT300,
    DSHOT600
} dshot_type_e;
 
 
typedef enum {
    DSHOT_CMD_MOTOR_STOP = 0,
    DSHOT_CMD_BEACON1,
    DSHOT_CMD_BEACON2,
    DSHOT_CMD_BEACON3,
    DSHOT_CMD_BEACON4,
    DSHOT_CMD_BEACON5,
    DSHOT_CMD_ESC_INFO, // V2 includes settings
    DSHOT_CMD_SPIN_DIRECTION_1,
    DSHOT_CMD_SPIN_DIRECTION_2,
    DSHOT_CMD_3D_MODE_OFF,
    DSHOT_CMD_3D_MODE_ON,
    DSHOT_CMD_SETTINGS_REQUEST, // Currently not implemented
    DSHOT_CMD_SAVE_SETTINGS,
    DSHOT_CMD_SPIN_DIRECTION_NORMAL = 20,
    DSHOT_CMD_SPIN_DIRECTION_REVERSED = 21,
    DSHOT_CMD_LED0_ON, // BLHeli32 only
    DSHOT_CMD_LED1_ON, // BLHeli32 only
    DSHOT_CMD_LED2_ON, // BLHeli32 only
    DSHOT_CMD_LED3_ON, // BLHeli32 only
    DSHOT_CMD_LED0_OFF, // BLHeli32 only
    DSHOT_CMD_LED1_OFF, // BLHeli32 only
    DSHOT_CMD_LED2_OFF, // BLHeli32 only
    DSHOT_CMD_LED3_OFF, // BLHeli32 only
    DSHOT_CMD_AUDIO_STREAM_MODE_ON_OFF = 30, // KISS audio Stream mode on/Off
    DSHOT_CMD_SILENT_MODE_ON_OFF = 31, // KISS silent Mode on/Off
    DSHOT_CMD_MAX = 47
} dshotCommands_e;
 
/* Static Variables */
extern volatile uint16_t dshot_command_count;
extern bool dshot_telemetry;
 
/* Function Prototypes */
void dshotInit(dshot_type_e dshot_type);
void dshotWrite(uint16_t *motor_value);
void dshotWait(uint16_t wait_counts);
 
#endif /* __DRV_DSHOT_H__ */