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Code Issues Wiki Activity

Unified all eRPM calculations into one single function

Browse source 
Fixed some review findings

Unified dshot average rpm calculations into one single function

Renamed calcEscRpm to erpmToRpm, and moved function to dshot.c

Removed unused esc_sensor.h header file from dshot.c

Removed esc_sensor.h header from modules that no longer needs it

Average RPM calculated by demmand only when rpm data is updated

Renamed rpm to averageRpm and fixed a bug

Update average rpm when telemetry data is received

Removed blank line

Fixed review findings

Fixed return values for erpmToRpm and getDshotAverageRpm so rpm value doesn't truncate

Restored osd_esc_rmp_alarm setting. This setting is used to set an alarm to notify when rpm  goes down a specified threshold. Rpm can go over 109krpm (1s 26kv motors setup), but a low rpm alarm doesn't have to be set to a so high value so at this time [0-32767] seems an acceptable range

Rebased to master
This commit is contained in:
iso9660 2022-08-01 23:51:11 +02:00
parent c78e14cc27
commit 0dd6d4d47a
14 changed files with 65 additions and 43 deletions
Download patch file Download diff file Expand all files Collapse all files

8
src/main/cli/cli.c
View file

@ -165,7 +165,6 @@ bool cliMode = false;
#include "sensors/battery.h"
#include "sensors/boardalignment.h"
#include "sensors/compass.h"
#include "sensors/esc_sensor.h"
#include "sensors/gyro.h"
#include "sensors/gyro_init.h"
#include "sensors/sensors.h"
@ -6169,6 +6168,9 @@ static void cliDshotTelemetryInfo(const char *cmdName, char *cmdline)
#endif
for (uint8_t i = 0; i < getMotorCount(); i++) {
const uint16_t erpm = getDshotTelemetry(i);
const uint16_t rpm = erpmToRpm(erpm);
cliPrintf("%5d %c%c%c%c%c %6d %6d %6d",
i + 1,
((dshotTelemetryState.motorState[i].telemetryTypes & (1 << DSHOT_TELEMETRY_TYPE_eRPM)) ? 'R' : '-'),
@ -6176,9 +6178,7 @@ static void cliDshotTelemetryInfo(const char *cmdName, char *cmdline)
((dshotTelemetryState.motorState[i].telemetryTypes & (1 << DSHOT_TELEMETRY_TYPE_VOLTAGE)) ? 'V' : '-'),
((dshotTelemetryState.motorState[i].telemetryTypes & (1 << DSHOT_TELEMETRY_TYPE_CURRENT)) ? 'C' : '-'),
((dshotTelemetryState.motorState[i].telemetryTypes & (1 << DSHOT_TELEMETRY_TYPE_STATE_EVENTS)) ? 'S' : '-'),
dshotTelemetryState.motorState[i].telemetryData[DSHOT_TELEMETRY_TYPE_eRPM] * 100,
dshotTelemetryState.motorState[i].telemetryData[DSHOT_TELEMETRY_TYPE_eRPM] * 100 * 2 / motorConfig()->motorPoleCount,
dshotTelemetryState.motorState[i].telemetryData[DSHOT_TELEMETRY_TYPE_eRPM] * 100 * 2 / motorConfig()->motorPoleCount / 60);
erpm * 100, rpm, rpm / 60);
#ifdef USE_DSHOT_TELEMETRY_STATS
if (isDshotMotorTelemetryActive(i)) {

13
src/main/drivers/dshot.c
View file

@ -40,6 +40,8 @@
#include "drivers/dshot_command.h"
#include "drivers/nvic.h"
#include "flight/mixer.h"
#include "rx/rx.h"
#include "dshot.h"
@ -188,6 +190,17 @@ FAST_CODE void dshotUpdateTelemetryData(uint8_t motorIndex, dshotTelemetryType_t
}
}
uint32_t erpmToRpm(uint16_t erpm)
{
// rpm = (erpm * 100) / (motorConfig()->motorPoleCount / 2)
return (erpm * 200) / motorConfig()->motorPoleCount;
}
uint32_t getDshotAverageRpm(void)
{
return dshotTelemetryState.averageRpm;
}
#endif // USE_DSHOT_TELEMETRY
#ifdef USE_DSHOT_TELEMETRY_STATS

3
src/main/drivers/dshot.h
View file

@ -95,6 +95,7 @@ typedef struct dshotTelemetryState_s {
uint32_t readCount;
dshotTelemetryMotorState_t motorState[MAX_SUPPORTED_MOTORS];
uint32_t inputBuffer[MAX_GCR_EDGES];
uint32_t averageRpm;
} dshotTelemetryState_t;
extern dshotTelemetryState_t dshotTelemetryState;
@ -105,6 +106,8 @@ void updateDshotTelemetryQuality(dshotTelemetryQuality_t *qualityStats, bool pac
#endif
uint16_t getDshotTelemetry(uint8_t index);
uint32_t erpmToRpm(uint16_t erpm);
uint32_t getDshotAverageRpm(void);
bool isDshotMotorTelemetryActive(uint8_t motorIndex);
bool isDshotTelemetryActive(void);

15
src/main/drivers/dshot_bitbang.c
View file

@ -495,6 +495,9 @@ static bool bbMotorConfig(IO_t io, uint8_t motorIndex, motorPwmProtocolTypes_e p
static bool bbUpdateStart(void)
{
uint32_t totalErpm;
uint32_t totalMotorsWithErpmData;
#ifdef USE_DSHOT_TELEMETRY
if (useDshotTelemetry) {
#ifdef USE_DSHOT_TELEMETRY_STATS
@ -507,6 +510,9 @@ static bool bbUpdateStart(void)
return false;
}
totalErpm = 0;
totalMotorsWithErpmData = 0;
for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < motorCount; motorIndex++) {
dshotTelemetryType_t type;
#ifdef USE_DSHOT_CACHE_MGMT
@ -543,6 +549,10 @@ static bool bbUpdateStart(void)
dshotTelemetryState.readCount++;
if (value != DSHOT_TELEMETRY_INVALID) {
if (type == DSHOT_TELEMETRY_TYPE_eRPM) {
totalErpm += value;
totalMotorsWithErpmData++;
}
dshotUpdateTelemetryData(motorIndex, type, value);
if (motorIndex < 4) {
DEBUG_SET(DEBUG_DSHOT_RPM_TELEMETRY, motorIndex, value);
@ -554,6 +564,11 @@ static bool bbUpdateStart(void)
updateDshotTelemetryQuality(&dshotTelemetryQuality[motorIndex], value != DSHOT_TELEMETRY_INVALID, currentTimeMs);
#endif
}
// Calculate average when possible
if (totalMotorsWithErpmData > 0) {
dshotTelemetryState.averageRpm = erpmToRpm(totalErpm / totalMotorsWithErpmData);
}
}
#endif
for (int i = 0; i < usedMotorPorts; i++) {

10
src/main/drivers/pwm_output_dshot_shared.c
View file

@ -187,6 +187,8 @@ FAST_CODE_NOINLINE bool pwmStartDshotMotorUpdate(void)
#endif
const timeUs_t currentUs = micros();
dshotTelemetryType_t type;
uint32_t totalErpm = 0;
uint32_t totalMotorsWithErpmData = 0;
for (int i = 0; i < dshotPwmDevice.count; i++) {
timeDelta_t usSinceInput = cmpTimeUs(currentUs, inputStampUs);
@ -220,6 +222,10 @@ FAST_CODE_NOINLINE bool pwmStartDshotMotorUpdate(void)
bool validTelemetryPacket = false;
#endif
if (value != DSHOT_TELEMETRY_INVALID) {
if (type == DSHOT_TELEMETRY_TYPE_eRPM) {
totalErpm += value;
totalMotorsWithErpmData++;
}
dshotUpdateTelemetryData(value, type, value);
if (i < 4) {
DEBUG_SET(DEBUG_DSHOT_RPM_TELEMETRY, i, value);
@ -240,6 +246,10 @@ FAST_CODE_NOINLINE bool pwmStartDshotMotorUpdate(void)
}
pwmDshotSetDirectionOutput(&dmaMotors[i]);
}
if (totalMotorsWithErpmData > 0) {
dshotTelemetryState.averageRpm = erpmToRpm(totalErpm / totalMotorsWithErpmData);
}
inputStampUs = 0;
dshotEnableChannels(dshotPwmDevice.count);
return true;

5
src/main/msp/msp.c
View file

@ -139,7 +139,6 @@
#include "sensors/battery.h"
#include "sensors/boardalignment.h"
#include "sensors/compass.h"
#include "sensors/esc_sensor.h"
#include "sensors/gyro.h"
#include "sensors/gyro_init.h"
#include "sensors/rangefinder.h"
@ -1211,7 +1210,7 @@ static bool mspProcessOutCommand(mspDescriptor_t srcDesc, int16_t cmdMSP, sbuf_t
#ifdef USE_DSHOT_TELEMETRY
if (motorConfig()->dev.useDshotTelemetry) {
rpm = getDshotTelemetry(i) * 100 * 2 / motorConfig()->motorPoleCount;
rpm = erpmToRpm(getDshotTelemetry(i));
rpmDataAvailable = true;
invalidPct = 10000; // 100.00%
@ -1247,7 +1246,7 @@ static bool mspProcessOutCommand(mspDescriptor_t srcDesc, int16_t cmdMSP, sbuf_t
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
escSensorData_t *escData = getEscSensorData(i);
if (!rpmDataAvailable) { // We want DSHOT telemetry RPM data (if available) to have precedence
rpm = calcEscRpm(escData->rpm);
rpm = erpmToRpm(escData->rpm);
rpmDataAvailable = true;
}
escTemperature = escData->temperature;

18
src/main/osd/osd.c
View file

@ -94,7 +94,6 @@
#include "sensors/acceleration.h"
#include "sensors/battery.h"
#include "sensors/esc_sensor.h"
#include "sensors/sensors.h"
#ifdef USE_HARDWARE_REVISION_DETECTION
@ -502,19 +501,14 @@ static void osdResetStats(void)
#if defined(USE_ESC_SENSOR) || defined(USE_DSHOT_TELEMETRY)
static int32_t getAverageEscRpm(void)
{
#ifdef USE_DSHOT_TELEMETRY
if (motorConfig()->dev.useDshotTelemetry) {
uint32_t rpm = 0;
for (int i = 0; i < getMotorCount(); i++) {
rpm += getDshotTelemetry(i);
}
rpm = rpm / getMotorCount();
return rpm * 100 * 2 / motorConfig()->motorPoleCount;
}
#endif
#ifdef USE_ESC_SENSOR
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
return calcEscRpm(osdEscDataCombined->rpm);
return erpmToRpm(osdEscDataCombined->rpm);
}
#endif
#ifdef USE_DSHOT_TELEMETRY
if (motorConfig()->dev.useDshotTelemetry) {
return getDshotAverageRpm();
}
#endif
return 0;

5
src/main/osd/osd_elements.c
View file

@ -159,7 +159,6 @@
#include "sensors/adcinternal.h"
#include "sensors/barometer.h"
#include "sensors/battery.h"
#include "sensors/esc_sensor.h"
#include "sensors/sensors.h"
#ifdef USE_GPS_PLUS_CODES
@ -259,12 +258,12 @@ static int getEscRpm(int i)
{
#ifdef USE_DSHOT_TELEMETRY
if (motorConfig()->dev.useDshotTelemetry) {
return 100.0f / (motorConfig()->motorPoleCount / 2.0f) * getDshotTelemetry(i);
return erpmToRpm(getDshotTelemetry(i));
}
#endif
#ifdef USE_ESC_SENSOR
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
return calcEscRpm(getEscSensorData(i)->rpm);
return erpmToRpm(getEscSensorData(i)->rpm);
}
#endif
return 0;

2
src/main/osd/osd_warnings.c
View file

@ -273,7 +273,7 @@ void renderOsdWarning(char *warningText, bool *blinking, uint8_t *displayAttr)
const char motorNumber = '1' + i;
// if everything is OK just display motor number else R, T or C
char warnFlag = motorNumber;
if (ARMING_FLAG(ARMED) && osdConfig()->esc_rpm_alarm != ESC_RPM_ALARM_OFF && calcEscRpm(escData->rpm) <= osdConfig()->esc_rpm_alarm) {
if (ARMING_FLAG(ARMED) && osdConfig()->esc_rpm_alarm != ESC_RPM_ALARM_OFF && erpmToRpm(escData->rpm) <= (uint32_t)osdConfig()->esc_rpm_alarm) {
warnFlag = 'R';
}
if (osdConfig()->esc_temp_alarm != ESC_TEMP_ALARM_OFF && escData->temperature >= osdConfig()->esc_temp_alarm) {

6
src/main/sensors/esc_sensor.c
View file

@ -271,7 +271,7 @@ static uint8_t decodeEscFrame(void)
frameStatus = ESC_SENSOR_FRAME_COMPLETE;
if (escSensorMotor < 4) {
DEBUG_SET(DEBUG_ESC_SENSOR_RPM, escSensorMotor, calcEscRpm(escSensorData[escSensorMotor].rpm) / 10); // output actual rpm/10 to fit in 16bit signed.
DEBUG_SET(DEBUG_ESC_SENSOR_RPM, escSensorMotor, erpmToRpm(escSensorData[escSensorMotor].rpm) / 10); // output actual rpm/10 to fit in 16bit signed.
DEBUG_SET(DEBUG_ESC_SENSOR_TMP, escSensorMotor, escSensorData[escSensorMotor].temperature);
}
} else {
@ -361,8 +361,4 @@ void escSensorProcess(timeUs_t currentTimeUs)
}
}
int calcEscRpm(int erpm)
{
return (erpm * 100) / (motorConfig()->motorPoleCount / 2);
}
#endif

2
src/main/sensors/esc_sensor.h
View file

@ -54,5 +54,3 @@ void startEscDataRead(uint8_t *frameBuffer, uint8_t frameLength);
uint8_t getNumberEscBytesRead(void);
uint8_t calculateCrc8(const uint8_t *Buf, const uint8_t BufLen);
int calcEscRpm(int erpm);

3
src/main/telemetry/frsky_hub.c
View file

@ -44,6 +44,7 @@
#include "drivers/sensor.h"
#include "drivers/serial.h"
#include "drivers/time.h"
#include "drivers/dshot.h"
#include "config/config.h"
#include "fc/rc_controls.h"
@ -189,7 +190,7 @@ static void sendThrottleOrBatterySizeAsRpm(void)
#if defined(USE_ESC_SENSOR_TELEMETRY)
escSensorData_t *escData = getEscSensorData(ESC_SENSOR_COMBINED);
if (escData) {
data = escData->dataAge < ESC_DATA_INVALID ? (calcEscRpm(escData->rpm) / 10) : 0;
data = escData->dataAge < ESC_DATA_INVALID ? (erpmToRpm(escData->rpm) / 10) : 0;
}
#else
if (ARMING_FLAG(ARMED)) {

5
src/main/telemetry/smartport.c
View file

@ -45,6 +45,7 @@
#include "drivers/compass/compass.h"
#include "drivers/sensor.h"
#include "drivers/time.h"
#include "drivers/dshot.h"
#include "config/config.h"
#include "fc/controlrate_profile.h"
@ -656,7 +657,7 @@ void processSmartPortTelemetry(smartPortPayload_t *payload, volatile bool *clear
case FSSP_DATAID_RPM :
escData = getEscSensorData(ESC_SENSOR_COMBINED);
if (escData != NULL) {
smartPortSendPackage(id, calcEscRpm(escData->rpm));
smartPortSendPackage(id, erpmToRpm(escData->rpm));
*clearToSend = false;
}
break;
@ -670,7 +671,7 @@ void processSmartPortTelemetry(smartPortPayload_t *payload, volatile bool *clear
case FSSP_DATAID_RPM8 :
escData = getEscSensorData(id - FSSP_DATAID_RPM1);
if (escData != NULL) {
smartPortSendPackage(id, calcEscRpm(escData->rpm));
smartPortSendPackage(id, erpmToRpm(escData->rpm));
*clearToSend = false;
}
break;

13
src/main/telemetry/srxl.c
View file

@ -193,16 +193,9 @@ uint16_t getMotorAveragePeriod(void)
#endif
#if defined(USE_DSHOT_TELEMETRY)
if (useDshotTelemetry) {
uint16_t motors = getMotorCount();
if (motors > 0) {
for (int motor = 0; motor < motors; motor++) {
rpm += getDshotTelemetry(motor);
}
rpm = 100.0f / (motorConfig()->motorPoleCount / 2.0f) * rpm; // convert erpm freq to RPM.
rpm /= motors; // Average combined rpm
}
// Calculate this way when no rpm from esc data
if (useDshotTelemetry && rpm == 0) {
rpm = getDshotAverageRpm();
}
#endif