esp32 async esc fix

rtlopez · Jul 20, 2023 · ded51c8 · ded51c8
1 parent 491023f
commit ded51c8
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Showing 7 changed files with 36 additions and 31 deletions.
diff --git a/docs/calculations.ods b/docs/calculations.ods
diff --git a/lib/EscDriver/src/EscDriver.h b/lib/EscDriver/src/EscDriver.h
@@ -12,7 +12,6 @@ enum EscProtocol {
   ESC_PROTOCOL_DSHOT150,
   ESC_PROTOCOL_DSHOT300,
   ESC_PROTOCOL_DSHOT600,
-//  ESC_PROTOCOL_DSHOT1200, // not used anymore
   ESC_PROTOCOL_PROSHOT,
   ESC_PROTOCOL_DISABLED,
   ESC_PROTOCOL_COUNT
@@ -68,7 +67,7 @@ class EscDriverBase
   #define EscDriver EscDriverEsp32
 
   #define ESC_DRIVER_MOTOR_TIMER 0
-  #define ESC_DRIVER_SERVO_TIMER 0
+  #define ESC_DRIVER_SERVO_TIMER 1
 
 #elif defined(ARCH_RP2040)
 
@@ -85,7 +84,7 @@ class EscDriverBase
   #define EscDriver EscDriverBase
 
   #define ESC_DRIVER_MOTOR_TIMER 0
-  #define ESC_DRIVER_SERVO_TIMER 0
+  #define ESC_DRIVER_SERVO_TIMER 1
 
 #else
 

diff --git a/lib/EscDriver/src/EscDriverEsp32.cpp b/lib/EscDriver/src/EscDriverEsp32.cpp
@@ -0,0 +1,9 @@
+#if defined(ESP32)
+
+#include "EscDriverEsp32.h"
+
+bool EscDriverEsp32::_tx_end_installed = false;
+
+EscDriverEsp32* EscDriverEsp32::instances[] = { NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL };
+
+#endif
diff --git a/lib/EscDriver/src/EscDriverEsp32.h b/lib/EscDriver/src/EscDriverEsp32.h
@@ -15,6 +15,7 @@ static const int32_t DURATION_MAX = 0x7fff; // max in 15 bits
 #define TO_INTERVAL(v) (1 * 1000 * 1000 / (v)) // [us]
 
 // faster esc response, but unsafe (no task synchronisation)
+// set to 0 in case of issues
 #define ESPFC_RMT_BYPASS_WRITE_SYNC 1
 
 #if ESPFC_RMT_BYPASS_WRITE_SYNC
@@ -54,10 +55,6 @@ IRAM_ATTR static esp_err_t _rmt_tx_start(rmt_channel_t channel, bool tx_idx_rst)
 #define _rmt_fill_tx_items rmt_fill_tx_items
 #endif
 
-
-class EscDriverEsp32;
-static EscDriverEsp32* instances[] = { NULL, NULL, NULL, NULL, NULL, NULL, NULL, NULL };
-
 class EscDriverEsp32: public EscDriverBase
 {
   public:
@@ -117,13 +114,12 @@ class EscDriverEsp32: public EscDriverBase
         }
     };
 
-    EscDriverEsp32(): _protocol(ESC_PROTOCOL_PWM), _async(true), _rate(50)
+    EscDriverEsp32(): _protocol(ESC_PROTOCOL_PWM), _async(true), _rate(50), _digital(false)
     {
       for(size_t i = 0; i < ESC_CHANNEL_COUNT; i++)
       {
         _channel[i].dev.gpio_num = gpio_num_t(-1);
       }
-      //begin(_protocol, _async, _rate);
     }
 
     void end()
@@ -138,17 +134,15 @@ class EscDriverEsp32: public EscDriverBase
     int begin(EscProtocol protocol, bool async, int32_t rate, int timer = 0)
     {
       (void)timer; // unused
-      if(_async) rmt_register_tx_end_callback(NULL, NULL); // unregister old callback
 
       _protocol = protocol;
-      _async = async;// && false;
+      _digital = isDigital(protocol);
+      _async = async;
       _rate = rate;
       _interval = TO_INTERVAL(_rate);
 
-      if(_async) rmt_register_tx_end_callback(&txDoneCallback, NULL);
-
       return 1;
-    }   
+    }
 
     int attach(size_t channel, int pin, int pulse)
     {
@@ -216,20 +210,27 @@ class EscDriverEsp32: public EscDriverBase
 
       rmt_config(&_channel[i].dev);
       rmt_driver_install(_channel[i].dev.channel, 0, 0);
-
-      if(_async) txDoneCallback((rmt_channel_t)i, NULL);
+      if (_async && !_tx_end_installed)
+      {
+        _tx_end_installed = true;
+        rmt_register_tx_end_callback(txDoneCallback, NULL);
+      }
+      if(_async)
+      {
+        rmt_set_tx_intr_en(_channel[i].dev.channel, true);
+        txDoneCallback((rmt_channel_t)i, NULL); // start generating pulses
+      }
     }
 
     static void txDoneCallback(rmt_channel_t channel, void *arg)
     {
-      if(!instances[channel] || !instances[channel]->_async) return;
-      instances[channel]->transmitOne(channel);
+      if(instances[channel] && instances[channel]->_async) instances[channel]->transmitOne(channel);
     }
 
     void transmitOne(uint8_t i)
     {
       if(!_channel[i].attached()) return;
-      if(isDigital())
+      if(_digital)
       {
         writeDshotCommand(i, _channel[i].pulse);
       }
@@ -242,11 +243,10 @@ class EscDriverEsp32: public EscDriverBase
 
     void transmitAll()
     {
-      bool digital = isDigital();
       for(size_t i = 0; i < ESC_CHANNEL_COUNT; i++)
       {
         if(!_channel[i].attached()) continue;
-        if(digital)
+        if(_digital)
         {
           writeDshotCommand(i, _channel[i].pulse);
         }
@@ -341,7 +341,6 @@ class EscDriverEsp32: public EscDriverBase
         case ESC_PROTOCOL_DSHOT150:
         case ESC_PROTOCOL_DSHOT300:
         case ESC_PROTOCOL_DSHOT600:
-        //case ESC_PROTOCOL_DSHOT1200:
         default:
           return 0;
       }
@@ -359,7 +358,6 @@ class EscDriverEsp32: public EscDriverBase
         case ESC_PROTOCOL_DSHOT150:
         case ESC_PROTOCOL_DSHOT300:
         case ESC_PROTOCOL_DSHOT600:
-        //case ESC_PROTOCOL_DSHOT1200:
         default:
           return 2048;
       }
@@ -384,7 +382,6 @@ class EscDriverEsp32: public EscDriverBase
         case ESC_PROTOCOL_DSHOT150:  return (width / (div * DURATION_CLOCK / 2)) * 4;
         case ESC_PROTOCOL_DSHOT300:  return (width / (div * DURATION_CLOCK / 2)) * 2;
         case ESC_PROTOCOL_DSHOT600:  return (width / (div * DURATION_CLOCK / 2)) * 1;
-        //case ESC_PROTOCOL_DSHOT1200: return (width / (div * DURATION_CLOCK / 2)) / 2;
         case ESC_PROTOCOL_BRUSHED:
         case ESC_PROTOCOL_PWM:
         case ESC_PROTOCOL_ONESHOT125:
@@ -395,14 +392,13 @@ class EscDriverEsp32: public EscDriverBase
       }
     }
 
-    bool isDigital() const
+    bool isDigital(EscProtocol protocol) const
     {
-      switch(_protocol)
+      switch(protocol)
       {
         case ESC_PROTOCOL_DSHOT150:
         case ESC_PROTOCOL_DSHOT300:
         case ESC_PROTOCOL_DSHOT600:
-        //case ESC_PROTOCOL_DSHOT1200:
           return true;
         default:
           return false;
@@ -414,6 +410,10 @@ class EscDriverEsp32: public EscDriverBase
     int32_t _async;
     int32_t _rate;
     int32_t _interval;
+    bool _digital;
+
+    static bool _tx_end_installed;
+    static EscDriverEsp32* instances[];
 };
 
 #endif

diff --git a/lib/EscDriver/src/EscDriverEsp8266.cpp b/lib/EscDriver/src/EscDriverEsp8266.cpp
@@ -330,7 +330,6 @@ uint32_t EscDriverEsp8266::usToTicks(uint32_t us)
     case ESC_PROTOCOL_DSHOT150:
     case ESC_PROTOCOL_DSHOT300:
     case ESC_PROTOCOL_DSHOT600:
-    //case ESC_PROTOCOL_DSHOT1200:
       ticks = us;
       break;
     default:
@@ -373,7 +372,6 @@ int EscDriverEsp8266::begin(EscProtocol protocol, bool async, int16_t rate, EscD
       }
       break;
     case ESC_PROTOCOL_DSHOT600:
-    //case ESC_PROTOCOL_DSHOT1200:
     case ESC_PROTOCOL_PROSHOT:
       {
         const float base = 47;

diff --git a/lib/EscDriver/src/EscDriverRP2040.cpp b/lib/EscDriver/src/EscDriverRP2040.cpp
@@ -126,7 +126,6 @@ uint32_t EscDriverRP2040::usToTicks(uint32_t us)
     case ESC_PROTOCOL_DSHOT150:
     case ESC_PROTOCOL_DSHOT300:
     case ESC_PROTOCOL_DSHOT600:
-    //case ESC_PROTOCOL_DSHOT1200:
       ticks = constrain(us, 1000, 2000);
       break;
     default:

diff --git a/platformio.ini b/platformio.ini
@@ -18,7 +18,7 @@ build_flags =
   -DESPFC_DEBUG_SERIAL
 ;  -DDEBUG_RP2040_PORT=Serial
 ;  -DDEBUG_RP2040_SPI
-;  -DESPFC_DEBUG_PIN=4 ; specify pin number (board specific)
+;  -DESPFC_DEBUG_PIN=2 ; specify pin number (board specific)
 ;  -DNO_GLOBAL_INSTANCES
 ;  -DESPFC_DEV_PRESET_MODES
 ;  -DESPFC_DEV_PRESET_BLACKBOX=1 ; specify port number (board specific)