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Code Issues Wiki Activity

Extended Bidir DShot

Browse source 
Extended DSHOT telemetry
Fixed broken unit testing

Rebased to master

Extended DSHOT telemetry

Added DSHOT ESC fail to OSD warnings

Initial extended DSHOT implementation

DSHOT telemetry ranges readjusted

Added shot_telemetry_data to cli

Added DSHOT telemetry warnings

Added extended DSHOT telemetry temperature data to osd elements

Fixed DSHOT telemetry osd warnings

Make cli dshot telemetry types human readable

Fixed ESC temperature OSD element

Added extended dshot telemetry enable command to dshot command queue to enable it in tryArm function.

Fixed broken automated unit testing

Fixed text output for dshot_telemetry_data cli command

Decode extended telemetry only when it has been activated in the ESC

DSHOT extended telemetry is only enabled when an extended telemetry enable frame is being processed

Fixed broken automated unit testing

Update tail's dshot command in queue when running blocking commands, so extended dshot telemetry command responses can be associated to their corresponding extended dshot telemetry enable/disable command request

Added clariffication to dshot_get_telemetry_type_to_decode to explain mechanish used for processing DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE response

Tabs cleanup
Added dshot motor stop fix when writting blocking commands

Added extended DSHOT telemetry to osd warnings
Fixed extended DSHOT telemetry in osd elements

Implemented msp extended dshot telemetry
Optimized osd warnings

Fixed code style

Added max temp to osd stats

Fixed automated unit testing

Fixed broken automated unit testing

Fixed missing extended dshot telemetry voltage and wrong current
Fixed unadverted change in gitignore file

Print esc number besides max esc tempetature in osd stats

issues and some other minor issues

ESC temperature is coded as an uint8 going from 0 to 255. Updated osd config esc_temp_alarm from int8_t to uint8_t to match esc temperature coding

issues and some other minor issues

Enable extended dshot telemetry when no esc sensors avaliable and dshot telemetry is enabled

Arranged dshot.h header and removed unnecessary headers from dshot.c

Updated dshot_telemetry_data cli command output

Fixed dshot_telemetry_data command

motor_output_unittest fixed

Fixed motor number printing in dshot_telemetry_data cli command

fixed motor_output_unittest

Merged dshot_telemetry_data into dshot_telemetry_info cli command

Fixed tabs

Fixed motor_output_unittest

Support extended DSHOT telemetry on DJI FPV

Fixed Compiling fails without USE_ESC_SENSOR and USE_DSHOT_TELEMETRY defines.

Fixed whencompiling without USE_ESC_SENSOR and USE_DSHOT_TELEMETRY

Reworked so code can be compiled with USE_ESC_SENSOR and USE_DSHOT_TELEMETRY separately

Enabling EDT the correct way

Removed unecessary conversions

Changed motorIndex datatype to uint8_t in dshot functions
This commit is contained in:
danmos 2022-06-18 23:12:44 +02:00 • committed by iso9660
parent 06c6189ca8
commit 21b3fc15b7
18 changed files with 562 additions and 167 deletions
Download patch file Download diff file Expand all files Collapse all files

22
src/main/drivers/dshot_command.c
View file

@ -195,6 +195,8 @@ void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, dshot
case DSHOT_CMD_SAVE_SETTINGS:
case DSHOT_CMD_SPIN_DIRECTION_NORMAL:
case DSHOT_CMD_SPIN_DIRECTION_REVERSED:
case DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE:
case DSHOT_CMD_EXTENDED_TELEMETRY_DISABLE:
repeats = 10;
break;
case DSHOT_CMD_BEACON1:
@ -209,6 +211,11 @@ void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, dshot
}
if (commandType == DSHOT_CMD_TYPE_BLOCKING) {
// Fake command in queue. Blocking commands are launched from cli, and no inline commands are running
for (uint8_t i = 0; i < motorDeviceCount(); i++) {
commandQueue[commandQueueTail].command[i] = (i == index || index == ALL_MOTORS) ? command : DSHOT_CMD_MOTOR_STOP;
}
delayMicroseconds(DSHOT_INITIAL_DELAY_US - DSHOT_COMMAND_DELAY_US);
for (; repeats; repeats--) {
delayMicroseconds(DSHOT_COMMAND_DELAY_US);
@ -219,18 +226,19 @@ void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, dshot
cmpTimeUs(timeoutUs, micros()) > 0);
#endif
for (uint8_t i = 0; i < motorDeviceCount(); i++) {
if ((i == index) || (index == ALL_MOTORS)) {
motorDmaOutput_t *const motor = getMotorDmaOutput(i);
motor->protocolControl.requestTelemetry = true;
motorGetVTable().writeInt(i, command);
} else {
motorGetVTable().writeInt(i, DSHOT_CMD_MOTOR_STOP);
}
motorDmaOutput_t *const motor = getMotorDmaOutput(i);
motor->protocolControl.requestTelemetry = true;
motorGetVTable().writeInt(i, (i == index || index == ALL_MOTORS) ? command : DSHOT_CMD_MOTOR_STOP);
}
motorGetVTable().updateComplete();
}
delayMicroseconds(delayAfterCommandUs);
// Clean fake command in queue. When running blocking commands are launched from cli, and no inline commands are running
for (uint8_t i = 0; i < motorDeviceCount(); i++) {
commandQueue[commandQueueTail].command[i] = DSHOT_CMD_MOTOR_STOP;
}
} else if (commandType == DSHOT_CMD_TYPE_INLINE) {
dshotCommandControl_t *commandControl = addCommand();
if (commandControl) {