mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-07-26 16:28:06 +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
@@ -63,8 +63,6 @@ static const uint32_t gcr_decode[32] = {
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0x0, 0x0, 0x8, 0x1, 0x0, 0x4, 0xC, 0x0
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};
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uint32_t erpms[DSHOT_TIMERS];
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typedef enum {
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DSHOT_START = 0,
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DSHOT_12BIT_FIFO,
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@@ -321,8 +319,10 @@ static int flexio_irq_handler(int irq, void *context, void *arg)
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}
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int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bidirectional_dshot)
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int up_dshot_init(uint32_t channel_mask, uint32_t bdshot_channel_mask, unsigned dshot_pwm_freq, bool edt_enable)
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{
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(void)edt_enable; // Not implemented
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/* Calculate dshot timings based on dshot_pwm_freq */
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dshot_tcmp = 0x2F00 | (((BOARD_FLEXIO_PREQ / (dshot_pwm_freq * 3) / 2) - 1) & 0xFF);
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dshot_speed = dshot_pwm_freq;
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@@ -360,7 +360,7 @@ int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bi
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imxrt_config_gpio(timer_io_channels[channel].dshot.pinmux | IOMUX_PULL_UP);
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if (enable_bidirectional_dshot) {
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if (bdshot_channel_mask & (1 << channel)) {
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dshot_inst[channel].bdshot = true;
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dshot_inst[channel].bdshot_training_mask = 0;
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dshot_inst[channel].bdshot_tcmp_offset = BDSHOT_TCMP_MIN_OFFSET;
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@@ -383,7 +383,7 @@ int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bi
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flexio_modifyreg32(IMXRT_FLEXIO_CTRL_OFFSET, 0,
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FLEXIO_CTRL_FLEXEN_MASK);
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return channel_mask;
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return dshot_mask;
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}
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void up_bdshot_training(uint32_t channel, uint32_t value)
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@@ -497,24 +497,26 @@ void up_bdshot_erpm(void)
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}
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int up_bdshot_num_erpm_ready(void)
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uint16_t up_bdshot_get_ready_mask(void)
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{
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int num_ready = 0;
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for (unsigned i = 0; i < DSHOT_TIMERS; ++i) {
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// We only check that data has been received, rather than if it's valid.
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// This ensures data is published even if one channel has bit errors.
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if (bdshot_parsed_recv_mask & (1 << i)) {
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++num_ready;
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}
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}
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return num_ready;
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return (uint16_t)bdshot_parsed_recv_mask;
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}
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int up_bdshot_num_errors(uint8_t channel)
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{
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if (channel >= DSHOT_TIMERS) {
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return 0;
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}
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return dshot_inst[channel].crc_error_cnt + dshot_inst[channel].frame_error_cnt + dshot_inst[channel].no_response_cnt;
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}
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int up_bdshot_get_erpm(uint8_t channel, int *erpm)
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{
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if (channel >= DSHOT_TIMERS) {
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return -1;
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}
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if (bdshot_parsed_recv_mask & (1 << channel)) {
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*erpm = (int)dshot_inst[channel].erpm;
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return 0;
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@@ -523,13 +525,28 @@ int up_bdshot_get_erpm(uint8_t channel, int *erpm)
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return -1;
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}
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int up_bdshot_channel_status(uint8_t channel)
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int up_bdshot_get_extended_telemetry(uint8_t channel, int type, uint8_t *value)
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{
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// NOT IMPLEMENTED
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return -1;
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}
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int up_bdshot_channel_capture_supported(uint8_t channel)
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{
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if (channel >= DSHOT_TIMERS) {
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return 0;
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}
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return dshot_inst[channel].init && dshot_inst[channel].bdshot;
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}
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int up_bdshot_channel_online(uint8_t channel)
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{
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if (channel < DSHOT_TIMERS) {
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return ((dshot_inst[channel].no_response_cnt - dshot_inst[channel].last_no_response_cnt) < BDSHOT_OFFLINE_COUNT);
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}
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return -1;
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return 0;
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}
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void up_bdshot_status(void)
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@@ -538,7 +555,7 @@ void up_bdshot_status(void)
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for (uint8_t channel = 0; (channel < DSHOT_TIMERS); channel++) {
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if (dshot_inst[channel].init) {
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PX4_INFO("Channel %i %s Last erpm %i value", channel, up_bdshot_channel_status(channel) ? "online" : "offline",
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PX4_INFO("Channel %i %s Last erpm %i value", channel, up_bdshot_channel_online(channel) ? "online" : "offline",
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dshot_inst[channel].erpm);
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PX4_INFO("BDSHOT Training done: %s TCMP offset: %d", dshot_inst[channel].bdshot_training_done ? "YES" : "NO",
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dshot_inst[channel].bdshot_tcmp_offset);
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@@ -601,7 +618,7 @@ uint64_t dshot_expand_data(uint16_t packet)
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* bit 12 - dshot telemetry enable/disable
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* bits 13-16 - XOR checksum
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**/
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void dshot_motor_data_set(unsigned channel, uint16_t throttle, bool telemetry)
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void dshot_motor_data_set(uint8_t channel, uint16_t throttle, bool telemetry)
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{
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if (channel < DSHOT_TIMERS && dshot_inst[channel].init) {
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uint16_t csum_data;
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