mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-24 21:09:41 +08:00
feat(dshot): Extended Telemetry and EEPROM support
Overhauls the DShot driver with per-timer BDShot selection, multi-timer
sequential capture, Extended DShot Telemetry (EDT), and AM32 ESC EEPROM
read/write via MAVLink. Expands ESC support from 8 to 12 channels.
BDShot:
- Per-timer BDShot protocol selection via actuator config UI
- Multi-timer sequential burst/capture on any DMA-capable timer
- Adaptive per-channel GCR bitstream decoding
- Per-channel online/offline detection with hysteresis
Extended DShot Telemetry (EDT):
- Temperature, voltage, current from BDShot frames (no serial wire)
- New DSHOT_BIDIR_EDT parameter
- EDT data merged with serial telemetry when both available
AM32 EEPROM:
- Read/write AM32 ESC settings via MAVLink ESC_EEPROM message
- ESCSettingsInterface abstraction for future ESC firmware types
- New DSHOT_ESC_TYPE parameter
Other changes:
- Per-motor pole count params DSHOT_MOT_POL1–12 (replaces MOT_POLE_COUNT)
- EscStatus/EscReport expanded to 12 ESCs with uint16 bitmasks
- Numerous bounds-check, overflow, and concurrency fixes
- Updated DShot documentation
This commit is contained in:
Jacob Dahl
@@ -69,6 +69,8 @@ set(msg_files
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DistanceSensorModeChangeRequest.msg
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DronecanNodeStatus.msg
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Ekf2Timestamps.msg
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EscEepromRead.msg
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EscEepromWrite.msg
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EscReport.msg
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EscStatus.msg
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EstimatorAidSource1d.msg
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7
msg/EscEepromRead.msg
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7
msg/EscEepromRead.msg
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@@ -0,0 +1,7 @@
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uint64 timestamp # [us] Time since system start
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uint8 firmware # [-] ESC firmware type (see ESC_FIRMWARE enum in MAVLink)
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uint8 index # [-] Index of the ESC (0 = ESC1, 1 = ESC2, etc.)
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uint16 length # [-] Length of valid data
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uint8[48] data # [-] Raw ESC EEPROM data
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uint8 ORB_QUEUE_LENGTH = 8 # To support 8 queued up responses
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8
msg/EscEepromWrite.msg
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8
msg/EscEepromWrite.msg
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@@ -0,0 +1,8 @@
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uint64 timestamp # [us] Time since system start
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uint8 firmware # [-] ESC firmware type (see ESC_FIRMWARE enum in MAVLink)
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uint8 index # [-] Index of the ESC (0 = ESC1, 1 = ESC2, etc, 255 = All)
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uint16 length # [-] Length of valid data
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uint8[48] data # [-] Raw ESC EEPROM data
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uint32[2] write_mask # [-] Bitmask indicating which bytes in the data array should be written (max 48 values)
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uint8 ORB_QUEUE_LENGTH = 8 # To support 8 queued up requests
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@@ -1,30 +1,31 @@
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uint64 timestamp # time since system start (microseconds)
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uint32 esc_errorcount # Number of reported errors by ESC - if supported
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int32 esc_rpm # Motor RPM, negative for reverse rotation [RPM] - if supported
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float32 esc_voltage # Voltage measured from current ESC [V] - if supported
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float32 esc_current # Current measured from current ESC [A] - if supported
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float32 esc_temperature # Temperature measured from current ESC [degC] - if supported
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int16 motor_temperature # Temperature measured from current motor [degC] - if supported
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uint8 esc_address # Address of current ESC (in most cases 1-8 / must be set by driver)
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uint8 esc_cmdcount # Counter of number of commands
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uint64 timestamp # [us] Time since system start
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uint8 esc_state # State of ESC - depend on Vendor
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uint32 esc_errorcount # [-] Number of reported errors by ESC - if supported
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int32 esc_rpm # [rpm] Motor RPM, negative for reverse rotation - if supported
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float32 esc_voltage # [V] Voltage measured from current ESC - if supported
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float32 esc_current # [A] Current measured from current ESC - if supported
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float32 esc_temperature # [degC] Temperature measured from current ESC - if supported
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uint8 esc_address # [-] Address of current ESC (in most cases 1-12 / must be set by driver)
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int16 motor_temperature # [degC] Temperature measured from current motor - if supported
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uint8 esc_state # [-] State of ESC - depend on Vendor
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uint8 actuator_function # [-] Actuator output function (one of Motor1...MotorN)
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uint8 actuator_function # actuator output function (one of Motor1...MotorN)
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uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
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uint8 ACTUATOR_FUNCTION_MOTOR_MAX = 112 # output_functions.yaml Motor.start + Motor.count - 1
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uint16 failures # Bitmask to indicate the internal ESC faults
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int8 esc_power # Applied power 0-100 in % (negative values reserved)
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uint16 failures # [@enum FAILURE] Bitmask to indicate the internal ESC faults
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int8 esc_power # [%] [@range 0,100] Applied power (negative values reserved)
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uint8 FAILURE_OVER_CURRENT = 0 # (1 << 0)
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uint8 FAILURE_OVER_VOLTAGE = 1 # (1 << 1)
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uint8 FAILURE_MOTOR_OVER_TEMPERATURE = 2 # (1 << 2)
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uint8 FAILURE_OVER_RPM = 3 # (1 << 3)
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uint8 FAILURE_INCONSISTENT_CMD = 4 # (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries)
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uint8 FAILURE_MOTOR_STUCK = 5 # (1 << 5)
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uint8 FAILURE_GENERIC = 6 # (1 << 6)
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uint8 FAILURE_MOTOR_WARN_TEMPERATURE = 7 # (1 << 7)
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uint8 FAILURE_WARN_ESC_TEMPERATURE = 8 # (1 << 8)
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uint8 FAILURE_OVER_ESC_TEMPERATURE = 9 # (1 << 9)
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uint8 ESC_FAILURE_COUNT = 10 # Counter - keep it as last element!
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uint8 FAILURE_OVER_CURRENT = 0 # (1 << 0)
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uint8 FAILURE_OVER_VOLTAGE = 1 # (1 << 1)
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uint8 FAILURE_MOTOR_OVER_TEMPERATURE = 2 # (1 << 2)
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uint8 FAILURE_OVER_RPM = 3 # (1 << 3)
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uint8 FAILURE_INCONSISTENT_CMD = 4 # (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries)
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uint8 FAILURE_MOTOR_STUCK = 5 # (1 << 5)
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uint8 FAILURE_GENERIC = 6 # (1 << 6)
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uint8 FAILURE_MOTOR_WARN_TEMPERATURE = 7 # (1 << 7)
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uint8 FAILURE_WARN_ESC_TEMPERATURE = 8 # (1 << 8)
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uint8 FAILURE_OVER_ESC_TEMPERATURE = 9 # (1 << 9)
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uint8 ESC_FAILURE_COUNT = 10 # Counter - keep it as last element!
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@@ -1,28 +1,32 @@
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uint64 timestamp # time since system start (microseconds)
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uint8 CONNECTED_ESC_MAX = 8 # The number of ESCs supported. Current (Q2/2013) we support 8 ESCs
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uint64 timestamp # [us] Time since system start
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uint8 CONNECTED_ESC_MAX = 12 # The number of ESCs supported (Motor1-Motor12)
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uint8 ESC_CONNECTION_TYPE_PPM = 0 # Traditional PPM ESC
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uint8 ESC_CONNECTION_TYPE_SERIAL = 1 # Serial Bus connected ESC
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uint8 ESC_CONNECTION_TYPE_ONESHOT = 2 # One Shot PPM
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uint8 ESC_CONNECTION_TYPE_I2C = 3 # I2C
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uint8 ESC_CONNECTION_TYPE_CAN = 4 # CAN-Bus
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uint8 ESC_CONNECTION_TYPE_DSHOT = 5 # DShot
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uint8 ESC_CONNECTION_TYPE_PPM = 0 # Traditional PPM ESC
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uint8 ESC_CONNECTION_TYPE_SERIAL = 1 # Serial Bus connected ESC
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uint8 ESC_CONNECTION_TYPE_ONESHOT = 2 # One Shot PPM
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uint8 ESC_CONNECTION_TYPE_I2C = 3 # I2C
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uint8 ESC_CONNECTION_TYPE_CAN = 4 # CAN-Bus
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uint8 ESC_CONNECTION_TYPE_DSHOT = 5 # DShot
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uint16 counter # incremented by the writing thread everytime new data is stored
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uint16 counter # [-] Incremented by the writing thread everytime new data is stored
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uint8 esc_count # number of connected ESCs
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uint8 esc_connectiontype # how ESCs connected to the system
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uint8 esc_count # [-] Number of connected ESCs
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uint8 esc_connectiontype # [@enum ESC_CONNECTION_TYPE] How ESCs connected to the system
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uint8 esc_online_flags # Bitmask indicating which ESC is online/offline
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# esc_online_flags bit 0 : Set to 1 if ESC0 is online
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# esc_online_flags bit 1 : Set to 1 if ESC1 is online
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# esc_online_flags bit 2 : Set to 1 if ESC2 is online
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# esc_online_flags bit 3 : Set to 1 if ESC3 is online
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# esc_online_flags bit 4 : Set to 1 if ESC4 is online
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# esc_online_flags bit 5 : Set to 1 if ESC5 is online
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# esc_online_flags bit 6 : Set to 1 if ESC6 is online
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# esc_online_flags bit 7 : Set to 1 if ESC7 is online
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uint16 esc_online_flags # Bitmask indicating which ESC is online/offline (in motor order)
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# esc_online_flags bit 0 : Set to 1 if Motor1 is online
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# esc_online_flags bit 1 : Set to 1 if Motor2 is online
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# esc_online_flags bit 2 : Set to 1 if Motor3 is online
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# esc_online_flags bit 3 : Set to 1 if Motor4 is online
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# esc_online_flags bit 4 : Set to 1 if Motor5 is online
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# esc_online_flags bit 5 : Set to 1 if Motor6 is online
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# esc_online_flags bit 6 : Set to 1 if Motor7 is online
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# esc_online_flags bit 7 : Set to 1 if Motor8 is online
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# esc_online_flags bit 8 : Set to 1 if Motor9 is online
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# esc_online_flags bit 9 : Set to 1 if Motor10 is online
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# esc_online_flags bit 10: Set to 1 if Motor11 is online
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# esc_online_flags bit 11: Set to 1 if Motor12 is online
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uint8 esc_armed_flags # Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set.
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uint16 esc_armed_flags # [-] Bitmask indicating which ESC is armed (in motor order)
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EscReport[8] esc
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EscReport[12] esc
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@@ -80,6 +80,7 @@ uint16 VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION = 283 # Command to ask information
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uint16 VEHICLE_CMD_MISSION_START = 300 # Start running a mission. |first_item: the first mission item to run|last_item: the last mission item to run (after this item is run, the mission ends)|
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uint16 VEHICLE_CMD_ACTUATOR_TEST = 310 # Actuator testing command. |[@range -1,1] value|[s] timeout|Unused|Unused|output function|
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uint16 VEHICLE_CMD_CONFIGURE_ACTUATOR = 311 # Actuator configuration command. |configuration|Unused|Unused|Unused|output function|
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uint16 VEHICLE_CMD_ESC_REQUEST_EEPROM = 312 # Request EEPROM data from an ESC. |ESC Index|Firmware Type|Unused|Unused|Unused|
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uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400 # Arms / Disarms a component. |1 to arm, 0 to disarm.
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uint16 VEHICLE_CMD_RUN_PREARM_CHECKS = 401 # Instructs a target system to run pre-arm checks.
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uint16 VEHICLE_CMD_INJECT_FAILURE = 420 # Inject artificial failure for testing purposes.
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@@ -129,6 +130,13 @@ uint8 VEHICLE_ROI_LOCATION = 3 # Point toward fixed location.
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uint8 VEHICLE_ROI_TARGET = 4 # Point toward target.
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uint8 VEHICLE_ROI_ENUM_END = 5
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uint8 ACTUATOR_CONFIGURATION_NONE = 0 # Do nothing.
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uint8 ACTUATOR_CONFIGURATION_BEEP = 1 # Command the actuator to beep now.
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uint8 ACTUATOR_CONFIGURATION_3D_MODE_ON = 2 # Permanently set the actuator (ESC) to 3D mode (reversible thrust).
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uint8 ACTUATOR_CONFIGURATION_3D_MODE_OFF = 3 # Permanently set the actuator (ESC) to non 3D mode (non-reversible thrust).
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uint8 ACTUATOR_CONFIGURATION_SPIN_DIRECTION1 = 4 # Permanently set the actuator (ESC) to spin direction 1 (which can be clockwise or counter-clockwise).
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uint8 ACTUATOR_CONFIGURATION_SPIN_DIRECTION2 = 5 # Permanently set the actuator (ESC) to spin direction 2 (opposite of direction 1).
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uint8 PARACHUTE_ACTION_DISABLE = 0
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uint8 PARACHUTE_ACTION_ENABLE = 1
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uint8 PARACHUTE_ACTION_RELEASE = 2
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