Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-19 14:25:20 +03:00
Code Issues Wiki Activity

Spektrum TM. Added support for BiDirectional Dshot ESC rpm sensor.

Browse source
This commit is contained in:
Anders Hoglund 2019-03-10 21:36:13 +01:00
parent 9e715845c3
commit 49b4ee9f9a
1 changed files with 46 additions and 5 deletions
Download patch file Download diff file Expand all files Collapse all files

51
src/main/telemetry/srxl.c
View file

@ -45,6 +45,7 @@
#include "fc/runtime_config.h"
#include "flight/imu.h"
#include "flight/mixer.h"
#include "io/gps.h"
@ -62,6 +63,8 @@
#include "telemetry/srxl.h"
#include "drivers/vtx_common.h"
#include "drivers/pwm_output.h"
#include "io/vtx_tramp.h"
#include "io/vtx_smartaudio.h"
@ -136,6 +139,7 @@ bool srxlFrameQos(sbuf_t *dst, timeUs_t currentTimeUs)
return true;
}
/*
typedef struct
{
@ -155,17 +159,54 @@ typedef struct
#define SPEKTRUM_RPM_UNUSED 0xffff
#define SPEKTRUM_TEMP_UNUSED 0x7fff
#define MICROSEC_PER_MINUTE 60000000
bool srxlFrameRpm(sbuf_t *dst, timeUs_t currentTimeUs)
//Original range of 1 - 65534 uSec gives an RPM range of 915 - 60000000rpm, 60MegaRPM
#define SPEKTRUM_MIN_RPM 999 // Min RPM to show the user, indicating RPM is really below 999
#define SPEKTRUM_MAX_RPM 60000000
uint16_t getMotorAveragePeriod(void)
{
#if defined( USE_ESC_SENSOR_TELEMETRY) || defined( USE_DSHOT_TELEMETRY)
uint32_t rpm = 0;
uint16_t period_us = SPEKTRUM_RPM_UNUSED;
#ifdef USE_ESC_SENSOR_TELEMETRY
#if defined( USE_ESC_SENSOR_TELEMETRY)
escSensorData_t *escData = getEscSensorData(ESC_SENSOR_COMBINED);
if (escData != NULL && escData->rpm > 0) {
period_us = 60000000 / escData->rpm; // revs/minute -> microSeconds
if (escData != NULL) {
rpm = escData->rpm;
}
#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
}
}
#endif
if (rpm > SPEKTRUM_MIN_RPM && rpm < SPEKTRUM_MAX_RPM) {
period_us = MICROSEC_PER_MINUTE / rpm; // revs/minute -> microSeconds
} else {
period_us = MICROSEC_PER_MINUTE / SPEKTRUM_MIN_RPM;
}
return period_us;
#else
return SPEKTRUM_RPM_UNUSED;
#endif
}
bool srxlFrameRpm(sbuf_t *dst, timeUs_t currentTimeUs)
{
int16_t coreTemp = SPEKTRUM_TEMP_UNUSED;
#if defined(USE_ADC_INTERNAL)
coreTemp = getCoreTemperatureCelsius();
@ -176,7 +217,7 @@ bool srxlFrameRpm(sbuf_t *dst, timeUs_t currentTimeUs)
sbufWriteU8(dst, SRXL_FRAMETYPE_TELE_RPM);
sbufWriteU8(dst, SRXL_FRAMETYPE_SID);
sbufWriteU16BigEndian(dst, period_us); // pulse leading edges
sbufWriteU16BigEndian(dst, getMotorAveragePeriod()); // pulse leading edges
if (telemetryConfig()->report_cell_voltage) {
sbufWriteU16BigEndian(dst, getBatteryAverageCellVoltage()); // Cell voltage is in units of 0.01V
} else {