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Code Issues Wiki Activity

avoid dshot telemetry collisions

Browse source 
actually use calculated deadtime

fix whitespace and return value

fix ws

Address review feedback

fix ws
This commit is contained in:
Thorsten Laux 2019-03-19 13:02:44 +01:00 • committed by mikeller
parent 8984a7195f
commit 5a759c56ef
7 changed files with 82 additions and 51 deletions
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11
src/main/drivers/pwm_output.c
View file

@ -224,9 +224,10 @@ bool pwmAreMotorsEnabled(void)
}
#ifdef USE_DSHOT_TELEMETRY
static void pwmStartWriteUnused(uint8_t motorCount)
static bool pwmStartWriteUnused(uint8_t motorCount)
{
UNUSED(motorCount);
return true;
}
#endif
@ -253,9 +254,9 @@ void pwmCompleteMotorUpdate(uint8_t motorCount)
}
#ifdef USE_DSHOT_TELEMETRY
void pwmStartMotorUpdate(uint8_t motorCount)
bool pwmStartMotorUpdate(uint8_t motorCount)
{
pwmStartWrite(motorCount);
return pwmStartWrite(motorCount);
}
#endif
@ -521,7 +522,9 @@ void pwmWriteDshotCommand(uint8_t index, uint8_t motorCount, uint8_t command, bo
delayMicroseconds(DSHOT_COMMAND_DELAY_US);
#ifdef USE_DSHOT_TELEMETRY
pwmStartDshotMotorUpdate(motorCount);
timeUs_t currentTimeUs = micros();
while (!pwmStartDshotMotorUpdate(motorCount) &&
cmpTimeUs(micros(), currentTimeUs) < 1000);
#endif
for (uint8_t i = 0; i < motorCount; i++) {
if ((i == index) || (index == ALL_MOTORS)) {

12
src/main/drivers/pwm_output.h
View file

@ -22,6 +22,8 @@
#include "platform.h"
#include "common/time.h"
#include "drivers/io_types.h"
#include "drivers/pwm_output_counts.h"
#include "drivers/timer.h"
@ -112,6 +114,8 @@ typedef enum {
#define PROSHOT_BASE_SYMBOL 24 // 1uS
#define PROSHOT_BIT_WIDTH 3
#define MOTOR_NIBBLE_LENGTH_PROSHOT 96 // 4uS
#define DSHOT_TELEMETRY_DEADTIME_US (2 * 30 + 10) // 2 * 30uS to switch lines plus 10us grace period
#endif
@ -128,6 +132,7 @@ typedef struct {
#endif
uint16_t dmaBurstLength;
uint32_t dmaBurstBuffer[DSHOT_DMA_BUFFER_SIZE * 4];
timeUs_t inputDirectionStampUs;
#endif
uint16_t timerDmaSources;
} motorDmaTimer_t;
@ -146,6 +151,7 @@ typedef struct {
volatile bool isInput;
volatile bool hasTelemetry;
uint16_t dshotTelemetryValue;
timeDelta_t dshotTelemetryDeadtimeUs;
bool dshotTelemetryActive;
#ifdef USE_HAL_DRIVER
LL_TIM_OC_InitTypeDef ocInitStruct;
@ -183,7 +189,7 @@ motorDmaOutput_t *getMotorDmaOutput(uint8_t index);
struct timerHardware_s;
typedef void pwmWriteFn(uint8_t index, float value); // function pointer used to write motors
typedef void pwmCompleteWriteFn(uint8_t motorCount); // function pointer used after motors are written
typedef void pwmStartWriteFn(uint8_t motorCount); // function pointer used before motors are written
typedef bool pwmStartWriteFn(uint8_t motorCount); // function pointer used before motors are written
typedef struct {
volatile timCCR_t *ccr;
@ -244,7 +250,7 @@ void pwmWriteDshotCommand(uint8_t index, uint8_t motorCount, uint8_t command, bo
void pwmWriteDshotInt(uint8_t index, uint16_t value);
void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output);
#ifdef USE_DSHOT_TELEMETRY
void pwmStartDshotMotorUpdate(uint8_t motorCount);
bool pwmStartDshotMotorUpdate(uint8_t motorCount);
#endif
void pwmCompleteDshotMotorUpdate(uint8_t motorCount);
@ -268,7 +274,7 @@ void pwmOutConfig(timerChannel_t *channel, const timerHardware_t *timerHardware,
void pwmWriteMotor(uint8_t index, float value);
void pwmShutdownPulsesForAllMotors(uint8_t motorCount);
void pwmCompleteMotorUpdate(uint8_t motorCount);
void pwmStartMotorUpdate(uint8_t motorCount);
bool pwmStartMotorUpdate(uint8_t motorCount);
void pwmWriteServo(uint8_t index, float value);

9
src/main/drivers/pwm_output_dshot.c
View file

@ -96,8 +96,9 @@ FAST_CODE void pwmDshotSetDirectionOutput(
DMA_DeInit(dmaRef);
#ifdef USE_DSHOT_TELEMETRY
motor->isInput = !output;
if (!output) {
motor->isInput = true;
motor->timer->inputDirectionStampUs = micros();
TIM_ICInit(timer, &motor->icInitStruct);
#if defined(STM32F3)
@ -111,6 +112,9 @@ FAST_CODE void pwmDshotSetDirectionOutput(
UNUSED(output);
#endif
{
#ifdef USE_DSHOT_TELEMETRY
motor->isInput = false;
#endif
timerOCPreloadConfig(timer, timerHardware->channel, TIM_OCPreload_Disable);
timerOCInit(timer, timerHardware->channel, pOcInit);
timerOCPreloadConfig(timer, timerHardware->channel, TIM_OCPreload_Enable);
@ -388,6 +392,9 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
#ifdef USE_DSHOT_TELEMETRY
motor->dmaInputLen = motor->useProshot ? PROSHOT_TELEMETRY_INPUT_LEN : DSHOT_TELEMETRY_INPUT_LEN;
motor->dshotTelemetryDeadtimeUs = DSHOT_TELEMETRY_DEADTIME_US + 1000000 *
( 2 + (motor->useProshot ? 4 * MOTOR_NIBBLE_LENGTH_PROSHOT : 16 * MOTOR_BITLENGTH))
/ getDshotHz(pwmProtocolType);
pwmDshotSetDirectionOutput(motor, true);
#else
pwmDshotSetDirectionOutput(motor, true, &OCINIT, &DMAINIT);

9
src/main/drivers/pwm_output_dshot_hal.c
View file

@ -98,8 +98,9 @@ void pwmDshotSetDirectionOutput(
LL_EX_DMA_DeInit(motor->dmaRef);
#ifdef USE_DSHOT_TELEMETRY
motor->isInput = !output;
if (!output) {
motor->isInput = true;
motor->timer->inputDirectionStampUs = micros();
LL_TIM_IC_Init(timer, motor->llChannel, &motor->icInitStruct);
motor->dmaInitStruct.Direction = LL_DMA_DIRECTION_PERIPH_TO_MEMORY;
} else
@ -107,6 +108,9 @@ void pwmDshotSetDirectionOutput(
UNUSED(output);
#endif
{
#ifdef USE_DSHOT_TELEMETRY
motor->isInput = false;
#endif
LL_TIM_OC_DisablePreload(timer, motor->llChannel);
LL_TIM_OC_Init(timer, motor->llChannel, pOcInit);
LL_TIM_OC_EnablePreload(timer, motor->llChannel);
@ -351,6 +355,9 @@ void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t m
#ifdef USE_DSHOT_TELEMETRY
motor->dmaInputLen = motor->useProshot ? PROSHOT_TELEMETRY_INPUT_LEN : DSHOT_TELEMETRY_INPUT_LEN;
motor->dshotTelemetryDeadtimeUs = DSHOT_TELEMETRY_DEADTIME_US + 1000000 *
( 2 + (motor->useProshot ? 4 * MOTOR_NIBBLE_LENGTH_PROSHOT : 16 * MOTOR_BITLENGTH))
/ getDshotHz(pwmProtocolType);
pwmDshotSetDirectionOutput(motor, true);
#else
pwmDshotSetDirectionOutput(motor, true, &OCINIT, &DMAINIT);

86
src/main/drivers/pwm_output_dshot_shared.c
View file

@ -203,48 +203,54 @@ FAST_CODE void pwmDshotSetDirectionOutput(
#ifdef USE_DSHOT_TELEMETRY
void pwmStartDshotMotorUpdate(uint8_t motorCount)
bool pwmStartDshotMotorUpdate(uint8_t motorCount)
{
if (useDshotTelemetry) {
for (int i = 0; i < motorCount; i++) {
if (dmaMotors[i].hasTelemetry) {
#ifdef STM32F7
uint32_t edges = LL_EX_DMA_GetDataLength(dmaMotors[i].dmaRef);
#else
uint32_t edges = DMA_GetCurrDataCounter(dmaMotors[i].dmaRef);
#endif
uint16_t value = 0xffff;
if (edges == 0) {
if (dmaMotors[i].useProshot) {
value = decodeProshotPacket(dmaMotors[i].dmaBuffer);
} else {
value = decodeDshotPacket(dmaMotors[i].dmaBuffer);
}
}
if (value != 0xffff) {
dmaMotors[i].dshotTelemetryValue = value;
dmaMotors[i].dshotTelemetryActive = true;
if (i < 4) {
DEBUG_SET(DEBUG_DSHOT_RPM_TELEMETRY, i, value);
}
} else {
dshotInvalidPacketCount++;
if (i == 0) {
memcpy(inputBuffer,dmaMotors[i].dmaBuffer,sizeof(inputBuffer));
}
}
dmaMotors[i].hasTelemetry = false;
} else {
#ifdef STM32F7
LL_EX_TIM_DisableIT(dmaMotors[i].timerHardware->tim, dmaMotors[i].timerDmaSource);
#else
TIM_DMACmd(dmaMotors[i].timerHardware->tim, dmaMotors[i].timerDmaSource, DISABLE);
#endif
}
pwmDshotSetDirectionOutput(&dmaMotors[i], true);
}
dshotEnableChannels(motorCount);
if (!useDshotTelemetry) {
return true;
}
for (int i = 0; i < motorCount; i++) {
if (dmaMotors[i].hasTelemetry) {
#ifdef STM32F7
uint32_t edges = LL_EX_DMA_GetDataLength(dmaMotors[i].dmaRef);
#else
uint32_t edges = DMA_GetCurrDataCounter(dmaMotors[i].dmaRef);
#endif
uint16_t value = 0xffff;
if (edges == 0) {
if (dmaMotors[i].useProshot) {
value = decodeProshotPacket(dmaMotors[i].dmaBuffer);
} else {
value = decodeDshotPacket(dmaMotors[i].dmaBuffer);
}
}
if (value != 0xffff) {
dmaMotors[i].dshotTelemetryValue = value;
dmaMotors[i].dshotTelemetryActive = true;
if (i < 4) {
DEBUG_SET(DEBUG_DSHOT_RPM_TELEMETRY, i, value);
}
} else {
dshotInvalidPacketCount++;
if (i == 0) {
memcpy(inputBuffer,dmaMotors[i].dmaBuffer,sizeof(inputBuffer));
}
}
dmaMotors[i].hasTelemetry = false;
} else {
timeDelta_t usSinceInput = cmpTimeUs(micros(), dmaMotors[i].timer->inputDirectionStampUs);
if (usSinceInput >= 0 && usSinceInput < dmaMotors[i].dshotTelemetryDeadtimeUs) {
return false;
}
#ifdef STM32F7
LL_EX_TIM_DisableIT(dmaMotors[i].timerHardware->tim, dmaMotors[i].timerDmaSource);
#else
TIM_DMACmd(dmaMotors[i].timerHardware->tim, dmaMotors[i].timerDmaSource, DISABLE);
#endif
}
pwmDshotSetDirectionOutput(&dmaMotors[i], true);
}
dshotEnableChannels(motorCount);
return true;
}
bool isDshotMotorTelemetryActive(uint8_t motorIndex)

2
src/main/drivers/pwm_output_dshot_shared.h
View file

@ -66,7 +66,7 @@ FAST_CODE void pwmDshotSetDirectionOutput(
#endif
);
void pwmStartDshotMotorUpdate(uint8_t motorCount);
bool pwmStartDshotMotorUpdate(uint8_t motorCount);
#endif
#endif

4
src/main/flight/mixer.c
View file

@ -518,7 +518,9 @@ void writeMotors(void)
{
if (pwmAreMotorsEnabled()) {
#if defined(USE_DSHOT) && defined(USE_DSHOT_TELEMETRY)
pwmStartMotorUpdate(motorCount);
if (!pwmStartMotorUpdate(motorCount)) {
return;
}
#endif
for (int i = 0; i < motorCount; i++) {
pwmWriteMotor(i, motor[i]);