DSHOT150 algorithm using digital IO pins on the LPC-1768
DSHOT150.h@0:230008e7b5c8, 2019-04-27 (annotated)
- Committer:
- bwest32
- Date:
- Sat Apr 27 21:51:38 2019 +0000
- Revision:
- 0:230008e7b5c8
First implementation of DSHOT150 on LPC-1768
Who changed what in which revision?
User | Revision | Line number | New contents of line |
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bwest32 | 0:230008e7b5c8 | 1 | /* |
bwest32 | 0:230008e7b5c8 | 2 | Copyright (c) 2019 Blake West, Kevin Tseng, Tyler Brown, Mason Totri |
bwest32 | 0:230008e7b5c8 | 3 | |
bwest32 | 0:230008e7b5c8 | 4 | Permission is hereby granted, free of charge, to any person obtaining a copy |
bwest32 | 0:230008e7b5c8 | 5 | of this software and associated documentation files (the "Software"), to deal |
bwest32 | 0:230008e7b5c8 | 6 | in the Software without restriction, including without limitation the rights |
bwest32 | 0:230008e7b5c8 | 7 | to use, copy, modify, merge, publish, distribute, sublicense, and/or sell |
bwest32 | 0:230008e7b5c8 | 8 | copies of the Software, and to permit persons to whom the Software is |
bwest32 | 0:230008e7b5c8 | 9 | furnished to do so, subject to the following conditions: |
bwest32 | 0:230008e7b5c8 | 10 | |
bwest32 | 0:230008e7b5c8 | 11 | The above copyright notice and this permission notice shall be included in |
bwest32 | 0:230008e7b5c8 | 12 | all copies or substantial portions of the Software. |
bwest32 | 0:230008e7b5c8 | 13 | |
bwest32 | 0:230008e7b5c8 | 14 | THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR |
bwest32 | 0:230008e7b5c8 | 15 | IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, |
bwest32 | 0:230008e7b5c8 | 16 | FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE |
bwest32 | 0:230008e7b5c8 | 17 | AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER |
bwest32 | 0:230008e7b5c8 | 18 | LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, |
bwest32 | 0:230008e7b5c8 | 19 | OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN |
bwest32 | 0:230008e7b5c8 | 20 | THE SOFTWARE. |
bwest32 | 0:230008e7b5c8 | 21 | */ |
bwest32 | 0:230008e7b5c8 | 22 | #ifndef MBED_DSHOT15_H |
bwest32 | 0:230008e7b5c8 | 23 | #define MBED_DSHOT15_H |
bwest32 | 0:230008e7b5c8 | 24 | #include "mbed.h" |
bwest32 | 0:230008e7b5c8 | 25 | /** DSHOT150 converts a digital IO pin to act like a DSHOT pulse |
bwest32 | 0:230008e7b5c8 | 26 | * This is done through writing one's and zero's a specific amount |
bwest32 | 0:230008e7b5c8 | 27 | * to acheive the correct pulse width in the given duty cycle. |
bwest32 | 0:230008e7b5c8 | 28 | * |
bwest32 | 0:230008e7b5c8 | 29 | * |
bwest32 | 0:230008e7b5c8 | 30 | * Example |
bwest32 | 0:230008e7b5c8 | 31 | * @code |
bwest32 | 0:230008e7b5c8 | 32 | * #include "mbed.h" |
bwest32 | 0:230008e7b5c8 | 33 | * #include "DSHOT150.h" |
bwest32 | 0:230008e7b5c8 | 34 | * |
bwest32 | 0:230008e7b5c8 | 35 | * DSHOT150 motor( p21 ); |
bwest32 | 0:230008e7b5c8 | 36 | * |
bwest32 | 0:230008e7b5c8 | 37 | * int main() { |
bwest32 | 0:230008e7b5c8 | 38 | * |
bwest32 | 0:230008e7b5c8 | 39 | * motor.arm(); |
bwest32 | 0:230008e7b5c8 | 40 | * motor.get_tel( true ); |
bwest32 | 0:230008e7b5c8 | 41 | * for( float i = 0; i < 1; i+=0.1){ |
bwest32 | 0:230008e7b5c8 | 42 | * motor.throttle( i ); |
bwest32 | 0:230008e7b5c8 | 43 | * } |
bwest32 | 0:230008e7b5c8 | 44 | * |
bwest32 | 0:230008e7b5c8 | 45 | * |
bwest32 | 0:230008e7b5c8 | 46 | * } |
bwest32 | 0:230008e7b5c8 | 47 | * @endcode |
bwest32 | 0:230008e7b5c8 | 48 | * |
bwest32 | 0:230008e7b5c8 | 49 | * This example will step the motor from 0 to 100% in 10% intervals |
bwest32 | 0:230008e7b5c8 | 50 | * |
bwest32 | 0:230008e7b5c8 | 51 | */ |
bwest32 | 0:230008e7b5c8 | 52 | class DSHOT150 |
bwest32 | 0:230008e7b5c8 | 53 | { |
bwest32 | 0:230008e7b5c8 | 54 | public: |
bwest32 | 0:230008e7b5c8 | 55 | DSHOT150(PinName pin); //Constructor that takes in |
bwest32 | 0:230008e7b5c8 | 56 | void throttle(float speed); //Throttle value as a percentage [0,1] |
bwest32 | 0:230008e7b5c8 | 57 | void get_tel(bool v); //Telemetry request function. Set to true if wanting to receive telemetry from the ESC |
bwest32 | 0:230008e7b5c8 | 58 | void arm(); //Arming comand for the motor |
bwest32 | 0:230008e7b5c8 | 59 | |
bwest32 | 0:230008e7b5c8 | 60 | private: |
bwest32 | 0:230008e7b5c8 | 61 | void send_packet(); //Sends the packet |
bwest32 | 0:230008e7b5c8 | 62 | void check_sum(unsigned int v); //Calculates the check sum, and inserts it into the packet |
bwest32 | 0:230008e7b5c8 | 63 | void write_zero(); |
bwest32 | 0:230008e7b5c8 | 64 | void write_one(); |
bwest32 | 0:230008e7b5c8 | 65 | bool packet[16]; //Packet of data that is being sent |
bwest32 | 0:230008e7b5c8 | 66 | DigitalOut _pin; //Pin that is being used. |
bwest32 | 0:230008e7b5c8 | 67 | unsigned int tel; |
bwest32 | 0:230008e7b5c8 | 68 | }; |
bwest32 | 0:230008e7b5c8 | 69 | #endif |