DSHOT150.h

00001 /*
00002     Copyright (c) 2019 Blake West, Kevin Tseng, Tyler Brown, Mason Totri
00003  
00004     Permission is hereby granted, free of charge, to any person obtaining a copy
00005     of this software and associated documentation files (the "Software"), to deal
00006     in the Software without restriction, including without limitation the rights
00007     to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
00008     copies of the Software, and to permit persons to whom the Software is
00009     furnished to do so, subject to the following conditions:
00010  
00011     The above copyright notice and this permission notice shall be included in
00012     all copies or substantial portions of the Software.
00013  
00014     THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
00015     IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
00016     FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
00017     AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
00018     LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
00019     OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
00020     THE SOFTWARE.
00021 */
00022 #ifndef MBED_DSHOT15_H
00023 #define MBED_DSHOT15_H
00024 #include "mbed.h"
00025 /** DSHOT150 converts a digital IO pin to act like a DSHOT pulse
00026  * This is done through writing one's and zero's a specific amount 
00027  * to acheive the correct pulse width in the given duty cycle.
00028  *
00029  *
00030  * Example
00031  * @code
00032  * #include "mbed.h"
00033  * #include "DSHOT150.h"
00034  *
00035  * DSHOT150 motor( p21 );
00036  *
00037  * int main() {
00038  *
00039  *      motor.arm();
00040  *      motor.get_tel( true );
00041  *      for( float i = 0; i < 1; i+=0.1){
00042  *          motor.throttle( i );
00043  *      }
00044  *
00045  *
00046  *  }
00047  *  @endcode
00048  *
00049  *  This example will step the motor from 0 to 100% in 10% intervals
00050  *
00051  */
00052 class DSHOT150
00053 {
00054 public:
00055     DSHOT150(PinName pin); //Constructor that takes in 
00056     void throttle(float speed); //Throttle value as a percentage [0,1]
00057     void get_tel(bool v); //Telemetry request function. Set to true if wanting to receive telemetry from the ESC
00058     void arm(); //Arming comand for the motor
00059     
00060 private:
00061     void send_packet(); //Sends the packet
00062     void check_sum(unsigned int v); //Calculates the check sum, and inserts it into the packet
00063     void write_zero(); 
00064     void write_one();
00065     bool packet[16]; //Packet of data that is being sent
00066     DigitalOut _pin; //Pin that is being used.
00067     unsigned int tel;
00068 };
00069 #endif