src/main/drivers/dshot_command.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #define DSHOT_MAX_COMMAND 47
  24
  25 /*
  26   DshotSettingRequest (KISS24). Spin direction, 3d and save Settings require 10 requests.. and the TLM Byte must always be high if 1-47 are used to send settings
  27
  28   3D Mode:
  29   0 = stop
  30   48   (low) - 1047 (high) -> negative direction
  31   1048 (low) - 2047 (high) -> positive direction
  32  */
  33
  34 typedef enum {
  35     DSHOT_CMD_MOTOR_STOP = 0,
  36     DSHOT_CMD_BEACON1,
  37     DSHOT_CMD_BEACON2,
  38     DSHOT_CMD_BEACON3,
  39     DSHOT_CMD_BEACON4,
  40     DSHOT_CMD_BEACON5,
  41     DSHOT_CMD_ESC_INFO, // V2 includes settings
  42     DSHOT_CMD_SPIN_DIRECTION_1,
  43     DSHOT_CMD_SPIN_DIRECTION_2,
  44     DSHOT_CMD_3D_MODE_OFF,
  45     DSHOT_CMD_3D_MODE_ON,
  46     DSHOT_CMD_SETTINGS_REQUEST, // Currently not implemented
  47     DSHOT_CMD_SAVE_SETTINGS,
  48     DSHOT_CMD_SPIN_DIRECTION_NORMAL = 20,
  49     DSHOT_CMD_SPIN_DIRECTION_REVERSED = 21,
  50     DSHOT_CMD_LED0_ON, // BLHeli32 only
  51     DSHOT_CMD_LED1_ON, // BLHeli32 only
  52     DSHOT_CMD_LED2_ON, // BLHeli32 only
  53     DSHOT_CMD_LED3_ON, // BLHeli32 only
  54     DSHOT_CMD_LED0_OFF, // BLHeli32 only
  55     DSHOT_CMD_LED1_OFF, // BLHeli32 only
  56     DSHOT_CMD_LED2_OFF, // BLHeli32 only
  57     DSHOT_CMD_LED3_OFF, // BLHeli32 only
  58     DSHOT_CMD_AUDIO_STREAM_MODE_ON_OFF = 30, // KISS audio Stream mode on/Off
  59     DSHOT_CMD_SILENT_MODE_ON_OFF = 31, // KISS silent Mode on/Off
  60     DSHOT_CMD_MAX = 47
  61 } dshotCommands_e;
  62
  63 typedef enum {
  64     DSHOT_CMD_TYPE_INLINE = 0,    // dshot commands sent inline with motor signal (motors must be enabled)
  65     DSHOT_CMD_TYPE_BLOCKING       // dshot commands sent in blocking method (motors must be disabled)
  66 } dshotCommandType_e;
  67
  68 void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, dshotCommandType_e commandType);
  69 void dshotSetPidLoopTime(uint32_t pidLoopTime);
  70 bool dshotCommandQueueEmpty(void);
  71 bool dshotCommandIsProcessing(void);
  72 uint8_t dshotCommandGetCurrent(uint8_t index);
  73 bool dshotCommandOutputIsEnabled(uint8_t motorCount);
  74 bool dshotStreamingCommandsAreEnabled(void);