esp-idf/examples/peripherals/rmt/dshot_esc/main/dshot_esc_encoder.h

48 lines
1.3 KiB
C

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