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dshot-esc-tester.ino
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dshot-esc-tester.ino
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/*
* ----------------------------------------------------------------------------
* "THE PROP-WARE LICENSE" (Revision 42):
* <https://github.com/JyeSmith> wrote this file. As long as you retain this notice you
* can do whatever you want with this stuff. If we meet some day, and you think
* this stuff is worth it, you can buy me some props in return. Jye Smith
* ----------------------------------------------------------------------------
*/
/* Some of the below code is taken from examples provided by Felix on RCGroups.com
*
* KISS ESC 24A Serial Example Code for Arduino.
* https://www.rcgroups.com/forums/showthread.php?2555162-KISS-ESC-24A-Race-Edition-Flyduino-32bit-ESC
* https://www.rcgroups.com/forums/showatt.php?attachmentid=8521072&d=1450345654 *
*/
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
// www.miniquadtestbench.com
// Uncommenting the below define will start the test sequence defined on MQTB
// WARNING - THE MOTOR WILL START TO SPIN AUTOMATICALLY!!!
//#define MINIQUADTESTBENCH
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#include <HardwareSerial.h>
#include "SSD1306.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "freertos/event_groups.h"
#include "Arduino.h"
#include "esp32-hal.h"
#include "HX711.h"
#define MOTOR_POLES 14
// HX711
#define LOADCELL_DOUT_PIN 25
#define LOADCELL_SCK_PIN 26
#define LOADCELL_CALIBRATION 345.0
HX711 loadcell;
long thrust = 0;
TaskHandle_t Task1;
rmt_data_t dshotPacket[16];
rmt_obj_t* rmt_send = NULL;
hw_timer_t * timer = NULL;
HardwareSerial MySerial(1);
SSD1306 display(0x3c, 21, 22); // 21 and 22 are default pins
uint8_t receivedBytes = 0;
volatile bool requestTelemetry = false;
bool printTelemetry = true;
uint16_t dshotUserInputValue = 0;
uint16_t dshotmin = 48;
uint16_t dshotmax = 2047;
uint16_t dshotidle = dshotmin + round(3.5*(dshotmax-dshotmin)/100); // 3.5%
uint16_t dshot50 = dshotmin + round(50*(dshotmax-dshotmin)/100); // 50%
uint16_t dshot75 = dshotmin + round(75*(dshotmax-dshotmin)/100); // 75%
int16_t ESC_telemetrie[5]; // Temperature, Voltage, Current, used mAh, eRpM
bool runMQTBSequence = false;
uint32_t currentTime;
uint8_t temperature = 0;
uint8_t temperatureMax = 0;
float voltage = 0;
float voltageMin = 99;
uint32_t current = 0;
uint32_t currentMax = 0;
uint32_t erpm = 0;
uint32_t erpmMax = 0;
uint32_t rpm = 0;
uint32_t rpmMAX = 0;
uint32_t kv = 0;
uint32_t kvMax = 0;
void gotTouch8(){
dshotUserInputValue = 0;
runMQTBSequence = false;
printTelemetry = true;
} // DIGITAL_CMD_MOTOR_STOP
void gotTouch9(){
dshotUserInputValue = 247;
resetMaxMinValues();
runMQTBSequence = false;
printTelemetry = true;
} // 10%
void gotTouch7(){
dshotUserInputValue = 447;
resetMaxMinValues();
runMQTBSequence = false;
printTelemetry = true;
} // 20%
void gotTouch6(){
dshotUserInputValue = 1047;
resetMaxMinValues();
runMQTBSequence = false;
printTelemetry = true;
} // 50%
void gotTouch5(){
dshotUserInputValue = 2047;
resetMaxMinValues();
runMQTBSequence = false;
printTelemetry = true;
} // 100%
void gotTouch4(){
temperatureMax = 0;
voltageMin = 99;
currentMax = 0;
erpmMax = 0;
rpmMAX = 0;
kvMax = 0;
runMQTBSequence = false;
printTelemetry = true;
}
void resetMaxMinValues() {
gotTouch4();
}
void IRAM_ATTR getTelemetry(){
requestTelemetry = true;
}
void startTelemetryTimer() {
timer = timerBegin(0, 80, true); // timer_id = 0; divider=80; countUp = true;
timerAttachInterrupt(timer, &getTelemetry, true); // edge = true
timerAlarmWrite(timer, 20000, true); //1000 = 1 ms
timerAlarmEnable(timer);
}
// Second core used to handle dshot packets
void secondCoreTask( void * pvParameters ){
while(1){
dshotOutput(dshotUserInputValue, requestTelemetry);
if (requestTelemetry) {
requestTelemetry = false;
receivedBytes = 0;
}
delay(1);
}
}
void setup() {
Serial.begin(115200);
MySerial.begin(115200, SERIAL_8N1, 16, 17);
loadcell.begin(LOADCELL_DOUT_PIN, LOADCELL_SCK_PIN);
loadcell.set_scale(LOADCELL_CALIBRATION);
loadcell.tare();
if ((rmt_send = rmtInit(5, true, RMT_MEM_64)) == NULL) {
Serial.println("init sender failed\n");
}
float realTick = rmtSetTick(rmt_send, 12.5); // 12.5ns sample rate
Serial.printf("rmt_send tick set to: %fns\n", realTick);
display.init();
display.flipScreenVertically();
display.setFont(ArialMT_Plain_10);
// Output disarm signal while esc initialises and do some display stuff.
uint8_t xbeep = random(15, 100);
uint8_t ybeep = random(15, 50);
uint8_t ibeep = 0;
while (millis() < 3500) {
dshotOutput(0, false);
delay(1);
display.clear();
ibeep++;
if (ibeep == 100) {
ibeep = 0;
xbeep = random(15, 50);
ybeep = random(15, 50);
}
display.drawString(xbeep, ybeep, "beep");
if (millis() < 500) {
display.drawString(0, 0, "Initialising ESC... 4s");
} else if (millis() < 1500) {
display.drawString(0, 0, "Initialising ESC... 3s");
} else if (millis() < 2500) {
display.drawString(0, 0, "Initialising ESC... 2s");
} else {
display.drawString(0, 0, "Initialising ESC... 1s");
}
display.display();
}
touchAttachInterrupt(T4, gotTouch4, 40);
touchAttachInterrupt(T5, gotTouch5, 40);
touchAttachInterrupt(T6, gotTouch6, 40);
touchAttachInterrupt(T7, gotTouch7, 40);
touchAttachInterrupt(T8, gotTouch8, 40);
touchAttachInterrupt(T9, gotTouch9, 40);
// Empty Rx Serial of garbage telemtry
while(MySerial.available())
MySerial.read();
requestTelemetry = true;
BeginWebUpdate();
startTelemetryTimer(); // Timer used to request tlm continually in case ESC rcv bad packet
xTaskCreatePinnedToCore(secondCoreTask, "Task1", 10000, NULL, 1, &Task1, 0);
Serial.print("Time (ms)");
Serial.print(",");
Serial.print("dshot");
Serial.print(",");
Serial.print("Voltage (V)");
Serial.print(",");
Serial.print("Current (A)");
Serial.print(",");
Serial.print("RPM");
Serial.print(",");
Serial.println("Thrust (g)");
#ifdef MINIQUADTESTBENCH
dshotUserInputValue = dshotidle;
runMQTBSequence = true;
display.clear();
display.setTextAlignment(TEXT_ALIGN_LEFT);
display.drawString(0, 0, "Running MQTB Sequence...");
display.display();
#endif
}
void loop() {
HandleWebUpdate();
if(loadcell.is_ready()) {
thrust = loadcell.get_units(1);
}
if(!requestTelemetry) {
receiveTelemtrie();
}
#ifdef MINIQUADTESTBENCH
if(runMQTBSequence) {
currentTime = millis();
if(currentTime >= 4000 && currentTime < 6000) {
dshotUserInputValue = dshot50;
} else if(currentTime >= 6000 && currentTime < 8000) {
dshotUserInputValue = dshotidle;
} else if(currentTime >= 8000 && currentTime < 10000) {
dshotUserInputValue = dshot75;
} else if(currentTime >= 10000 && currentTime < 12000) {
dshotUserInputValue = dshotidle;
} else if(currentTime >= 12000 && currentTime < 14000) {
dshotUserInputValue = dshotmax;
} else if(currentTime >= 14000 && currentTime < 16000) {
dshotUserInputValue = dshotmin;
} else if(currentTime >= 16000 && currentTime < 22000) {
dshotUserInputValue = dshotmin + (currentTime-16000)*(dshotmax-dshotmin)/6000.0;
} else if(currentTime >= 24000 && currentTime < 26000) {
dshotUserInputValue = dshotidle;
} else if(currentTime >= 26000 && currentTime < 28000) {
printTelemetry = false;
dshotUserInputValue = 0;
}
}
#endif
}
void receiveTelemtrie(){
static uint8_t SerialBuf[10];
if(MySerial.available()){
SerialBuf[receivedBytes] = MySerial.read();
receivedBytes++;
}
if(receivedBytes > 9){ // transmission complete
uint8_t crc8 = get_crc8(SerialBuf, 9); // get the 8 bit CRC
if(crc8 != SerialBuf[9]) {
// Serial.println("CRC transmission failure");
// Empty Rx Serial of garbage telemtry
while(MySerial.available())
MySerial.read();
requestTelemetry = true;
return; // transmission failure
}
// compute the received values
ESC_telemetrie[0] = SerialBuf[0]; // temperature
ESC_telemetrie[1] = (SerialBuf[1]<<8)|SerialBuf[2]; // voltage
ESC_telemetrie[2] = (SerialBuf[3]<<8)|SerialBuf[4]; // Current
ESC_telemetrie[3] = (SerialBuf[5]<<8)|SerialBuf[6]; // used mA/h
ESC_telemetrie[4] = (SerialBuf[7]<<8)|SerialBuf[8]; // eRpM *100
requestTelemetry = true;
if(!runMQTBSequence) { // Do not update during MQTB sequence. Slows serial output.
updateDisplay();
}
// Serial.println("Requested Telemetrie");
// Serial.print("Temperature (C): ");
// Serial.println(ESC_telemetrie[0]);
// Serial.print("Voltage (V): ");
// Serial.println(ESC_telemetrie[1] / 100.0);
// Serial.print("Current (mA): ");
// Serial.println(ESC_telemetrie[2] * 100);
// Serial.print("mA/h: ");
// Serial.println(ESC_telemetrie[3] * 10);
// Serial.print("eRPM : ");
// Serial.println(ESC_telemetrie[4] * 100);
// Serial.print("RPM : ");
// Serial.println(ESC_telemetrie[4] * 100 / 7.0); // 7 = 14 magnet count / 2
// Serial.print("KV : ");
// Serial.println( (ESC_telemetrie[4] * 100 / 7.0) / (ESC_telemetrie[1] / 100.0) ); // 7 = 14 magnet count / 2
// Serial.println(" ");
// Serial.println(" ");
if(printTelemetry) {
Serial.print(millis());
Serial.print(",");
Serial.print(dshotUserInputValue);
Serial.print(",");
// Serial.print("Voltage (V): ");
Serial.print(ESC_telemetrie[1] / 100.0);
Serial.print(",");
// Serial.print("Current (A): ");
Serial.print(ESC_telemetrie[2] / 10.0);
Serial.print(",");
// Serial.print("RPM : ");
Serial.print(ESC_telemetrie[4] * 100 / (MOTOR_POLES / 2));
Serial.print(",");
// Thrust
Serial.println(thrust);
}
temperature = 0.9*temperature + 0.1*ESC_telemetrie[0];
if (temperature > temperatureMax) {
temperatureMax = temperature;
}
voltage = 0.9*voltage + 0.1*(ESC_telemetrie[1] / 100.0);
if (voltage < voltageMin) {
voltageMin = voltage;
}
current = 0.9*current + 0.1*(ESC_telemetrie[2] * 100);
if (current > currentMax) {
currentMax = current;
}
erpm = 0.9*erpm + 0.1*(ESC_telemetrie[4] * 100);
if (erpm > erpmMax) {
erpmMax = erpm;
}
rpm = erpm / (MOTOR_POLES / 2);
if (rpm > rpmMAX) {
rpmMAX = rpm;
}
if (rpm) { // Stops weird numbers :|
kv = rpm / voltage / ( (float(dshotUserInputValue) - dshotmin) / (dshotmax - dshotmin) );
} else {
kv = 0;
}
if (kv > kvMax) {
kvMax = kv;
}
}
return;
}
void dshotOutput(uint16_t value, bool telemetry) {
uint16_t packet;
// telemetry bit
if (telemetry) {
packet = (value << 1) | 1;
} else {
packet = (value << 1) | 0;
}
// https://github.com/betaflight/betaflight/blob/09b52975fbd8f6fcccb22228745d1548b8c3daab/src/main/drivers/pwm_output.c#L523
int csum = 0;
int csum_data = packet;
for (int i = 0; i < 3; i++) {
csum ^= csum_data;
csum_data >>= 4;
}
csum &= 0xf;
packet = (packet << 4) | csum;
// durations are for dshot600
// https://blck.mn/2016/11/dshot-the-new-kid-on-the-block/
// Bit length (total timing period) is 1.67 microseconds (T0H + T0L or T1H + T1L).
// For a bit to be 1, the pulse width is 1250 nanoseconds (T1H – time the pulse is high for a bit value of ONE)
// For a bit to be 0, the pulse width is 625 nanoseconds (T0H – time the pulse is high for a bit value of ZERO)
for (int i = 0; i < 16; i++) {
if (packet & 0x8000) {
dshotPacket[i].level0 = 1;
dshotPacket[i].duration0 = 100;
dshotPacket[i].level1 = 0;
dshotPacket[i].duration1 = 34;
} else {
dshotPacket[i].level0 = 1;
dshotPacket[i].duration0 = 50;
dshotPacket[i].level1 = 0;
dshotPacket[i].duration1 = 84;
}
packet <<= 1;
}
rmtWrite(rmt_send, dshotPacket, 16);
return;
}
uint8_t update_crc8(uint8_t crc, uint8_t crc_seed){
uint8_t crc_u, i;
crc_u = crc;
crc_u ^= crc_seed;
for ( i=0; i<8; i++) crc_u = ( crc_u & 0x80 ) ? 0x7 ^ ( crc_u << 1 ) : ( crc_u << 1 );
return (crc_u);
}
uint8_t get_crc8(uint8_t *Buf, uint8_t BufLen){
uint8_t crc = 0, i;
for( i=0; i<BufLen; i++) crc = update_crc8(Buf[i], crc);
return (crc);
}
void updateDisplay() {
display.clear();
display.setTextAlignment(TEXT_ALIGN_LEFT);
display.drawString(0, 0, "Dshot Packet");
display.drawString(0, 10, "Temp C");
display.drawString(0, 20, "Volt");
display.drawString(0, 30, "mA");
display.drawString(0, 40, "eRPM");
display.drawString(0, 50, "KV");
display.setTextAlignment(TEXT_ALIGN_RIGHT);
display.drawString(80, 10, String(temperature));
display.drawString(80, 20, String(voltage));
display.drawString(80, 30, String(current));
display.drawString(80, 40, String(erpm));
display.drawString(80, 50, String(kv));
display.setTextAlignment(TEXT_ALIGN_RIGHT);
display.drawString(128, 0, String(dshotUserInputValue));
display.drawString(128, 10, String(temperatureMax));
display.drawString(128, 20, String(voltageMin));
display.drawString(128, 30, String(currentMax));
display.drawString(128, 40, String(erpmMax));
display.drawString(128, 50, String(kvMax));
display.display();
}