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48 lines
1.3 KiB
C
48 lines
1.3 KiB
C
/*
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* SPDX-FileCopyrightText: 2021-2022 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#pragma once
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#include <stdint.h>
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#include <stdbool.h>
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#include "driver/rmt_encoder.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @brief Throttle representation in DShot protocol
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*/
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typedef struct {
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uint16_t throttle; /*!< Throttle value */
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bool telemetry_req; /*!< Telemetry request */
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} dshot_esc_throttle_t;
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/**
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* @brief Type of Dshot ESC encoder configuration
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*/
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typedef struct {
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uint32_t resolution; /*!< Encoder resolution, in Hz */
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uint32_t baud_rate; /*!< Dshot protocol runs at several different baud rates, e.g. DSHOT300 = 300k baud rate */
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uint32_t post_delay_us; /*!< Delay time after one Dshot frame, in microseconds */
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} dshot_esc_encoder_config_t;
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/**
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* @brief Create RMT encoder for encoding Dshot ESC frame into RMT symbols
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*
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* @param[in] config Encoder configuration
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* @param[out] ret_encoder Returned encoder handle
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* @return
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* - ESP_ERR_INVALID_ARG for any invalid arguments
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* - ESP_ERR_NO_MEM out of memory when creating Dshot ESC encoder
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* - ESP_OK if creating encoder successfully
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*/
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esp_err_t rmt_new_dshot_esc_encoder(const dshot_esc_encoder_config_t *config, rmt_encoder_handle_t *ret_encoder);
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#ifdef __cplusplus
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}
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#endif
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