dshot_rmt_encoder.h

#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_rmt_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 */
        bool bidirectional;     /*!< Dshot bidirectional mode */
        uint32_t post_delay_us; /*!< Delay time after one Dshot frame, in microseconds */
    } dshot_rmt_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_rmt_encoder_config_t *config, rmt_encoder_handle_t *ret_encoder);

#ifdef __cplusplus
}
#endif