Implement PID and telemetry

2026-03-12 11:12:38 -04:00
parent 9fe77e4e41
commit 4876d31648
9 changed files with 186 additions and 28 deletions
@@ -1,6 +1,7 @@
 #pragma once

 #include <inttypes.h>
+#include <stdbool.h>

 #if CONFIG_IDF_TARGET_ESP32H2
 #define DSHOT_ESC_RESOLUTION_HZ 32000000 // 32MHz resolution, DSHot protocol needs a relative high resolution
@@ -10,11 +11,22 @@

 #define ESC_UART_NUM      UART_NUM_2

+/**
+ * Struct for returning telemetry data
+ */
+typedef struct {
+  uint16_t temperature;
+  uint16_t voltage;
+  uint16_t current;
+  uint16_t consumption;
+  uint16_t rpm;
+} esc_telemetry_t;
+
 void init_rmt_esc_tx(void);

 void send_dshot_packet(void);

-void parse_telemetry(void);
+bool parse_telemetry(esc_telemetry_t * telemetry);

 void init_motor(void);