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Code Issues Wiki Activity

Dshot erpm telemetry on the signal line

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This commit is contained in:
Thorsten Laux 2019-01-03 14:42:52 +01:00
parent 4778ad6c0f
commit 816da6cbf5
14 changed files with 500 additions and 79 deletions
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40
src/main/drivers/pwm_output.c
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@ -34,6 +34,9 @@
static FAST_RAM_ZERO_INIT pwmWriteFn *pwmWrite;
static FAST_RAM_ZERO_INIT pwmOutputPort_t motors[MAX_SUPPORTED_MOTORS];
static FAST_RAM_ZERO_INIT pwmCompleteWriteFn *pwmCompleteWrite = NULL;
#ifdef USE_DSHOT_TELEMETRY
static FAST_RAM_ZERO_INIT pwmStartWriteFn *pwmStartWrite = NULL;
#endif
#ifdef USE_DSHOT
FAST_RAM_ZERO_INIT loadDmaBufferFn *loadDmaBuffer;
@ -67,6 +70,9 @@ static bool isDshot = false;
#ifdef USE_DSHOT_DMAR
FAST_RAM_ZERO_INIT bool useBurstDshot = false;
#endif
#ifdef USE_DSHOT_TELEMETRY
FAST_RAM_ZERO_INIT bool useDshotTelemetry = false;
#endif
static void pwmOCConfig(TIM_TypeDef *tim, uint8_t channel, uint16_t value, uint8_t output)
{
@ -163,6 +169,8 @@ static FAST_CODE uint8_t loadDmaBufferDshot(uint32_t *dmaBuffer, int stride, uin
dmaBuffer[i * stride] = (packet & 0x8000) ? MOTOR_BIT_1 : MOTOR_BIT_0; // MSB first
packet <<= 1;
}
dmaBuffer[16 * stride] = 0;
dmaBuffer[17 * stride] = 0;
return DSHOT_DMA_BUFFER_SIZE;
}
@ -173,6 +181,8 @@ static uint8_t loadDmaBufferProshot(uint32_t *dmaBuffer, int stride, uint16_t pa
dmaBuffer[i * stride] = PROSHOT_BASE_SYMBOL + ((packet & 0xF000) >> 12) * PROSHOT_BIT_WIDTH; // Most significant nibble first
packet <<= 4; // Shift 4 bits
}
dmaBuffer[4 * stride] = 0;
dmaBuffer[5 * stride] = 0;
return PROSHOT_DMA_BUFFER_SIZE;
}
@ -210,6 +220,13 @@ bool pwmAreMotorsEnabled(void)
return pwmMotorsEnabled;
}
#ifdef USE_DSHOT_TELEMETRY
static void pwmStartWriteUnused(uint8_t motorCount)
{
UNUSED(motorCount);
}
#endif
static void pwmCompleteWriteUnused(uint8_t motorCount)
{
UNUSED(motorCount);
@ -232,6 +249,13 @@ void pwmCompleteMotorUpdate(uint8_t motorCount)
pwmCompleteWrite(motorCount);
}
#ifdef USE_DSHOT_TELEMETRY
void pwmStartMotorUpdate(uint8_t motorCount)
{
pwmStartWrite(motorCount);
}
#endif
void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8_t motorCount)
{
memset(motors, 0, sizeof(motors));
@ -270,6 +294,10 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
pwmWrite = &pwmWriteDshot;
loadDmaBuffer = &loadDmaBufferProshot;
pwmCompleteWrite = &pwmCompleteDshotMotorUpdate;
#ifdef USE_DSHOT_TELEMETRY
pwmStartWrite = &pwmStartDshotMotorUpdate;
useDshotTelemetry = motorConfig->useDshotTelemetry;
#endif
isDshot = true;
break;
case PWM_TYPE_DSHOT1200:
@ -279,6 +307,10 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
pwmWrite = &pwmWriteDshot;
loadDmaBuffer = &loadDmaBufferDshot;
pwmCompleteWrite = &pwmCompleteDshotMotorUpdate;
#ifdef USE_DSHOT_TELEMETRY
pwmStartWrite = &pwmStartDshotMotorUpdate;
useDshotTelemetry = motorConfig->useDshotTelemetry;
#endif
isDshot = true;
#ifdef USE_DSHOT_DMAR
if (motorConfig->useBurstDshot) {
@ -292,6 +324,9 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
if (!isDshot) {
pwmWrite = &pwmWriteStandard;
pwmCompleteWrite = useUnsyncedPwm ? &pwmCompleteWriteUnused : &pwmCompleteOneshotMotorUpdate;
#ifdef USE_DSHOT_TELEMETRY
pwmStartWrite = pwmStartWriteUnused;
#endif
}
for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < motorCount; motorIndex++) {
@ -430,6 +465,8 @@ void pwmWriteDshotCommand(uint8_t index, uint8_t motorCount, uint8_t command, bo
case DSHOT_CMD_SAVE_SETTINGS:
case DSHOT_CMD_SPIN_DIRECTION_NORMAL:
case DSHOT_CMD_SPIN_DIRECTION_REVERSED:
case DSHOT_CMD_SIGNAL_LINE_TELEMETRY_DISABLE:
case DSHOT_CMD_SIGNAL_LINE_CONTINUOUS_ERPM_TELEMETRY:
repeats = 10;
break;
case DSHOT_CMD_BEACON1:
@ -448,6 +485,9 @@ void pwmWriteDshotCommand(uint8_t index, uint8_t motorCount, uint8_t command, bo
for (; repeats; repeats--) {
delayMicroseconds(DSHOT_COMMAND_DELAY_US);
#ifdef USE_DSHOT_TELEMETRY
pwmStartDshotMotorUpdate(motorCount);
#endif
for (uint8_t i = 0; i < motorCount; i++) {
if ((i == index) || (index == ALL_MOTORS)) {
motorDmaOutput_t *const motor = getMotorDmaOutput(i);