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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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39
src/main/drivers/pwm_output.h
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@ -28,8 +28,9 @@
#define ALL_MOTORS 255
#define DSHOT_MAX_COMMAND 47
#define DSHOT_TELEMETRY_INPUT_LEN 32
#define PROSHOT_TELEMETRY_INPUT_LEN 8
/*
DshotSettingRequest (KISS24). Spin direction, 3d and save Settings reqire 10 requests.. and the TLM Byte must always be high if 1-47 are used to send settings
@ -66,6 +67,8 @@ typedef enum {
DSHOT_CMD_LED3_OFF, // BLHeli32 only
DSHOT_CMD_AUDIO_STREAM_MODE_ON_OFF = 30, // KISS audio Stream mode on/Off
DSHOT_CMD_SILENT_MODE_ON_OFF = 31, // KISS silent Mode on/Off
DSHOT_CMD_SIGNAL_LINE_TELEMETRY_DISABLE = 32,
DSHOT_CMD_SIGNAL_LINE_CONTINUOUS_ERPM_TELEMETRY = 33,
DSHOT_CMD_MAX = 47
} dshotCommands_e;
@ -100,7 +103,7 @@ typedef enum {
#define MOTOR_BIT_0 7
#define MOTOR_BIT_1 14
#define MOTOR_BITLENGTH 19
#define MOTOR_BITLENGTH 20
#define MOTOR_PROSHOT1000_HZ MHZ_TO_HZ(24)
#define PROSHOT_BASE_SYMBOL 24 // 1uS
@ -133,14 +136,35 @@ typedef struct {
#ifdef USE_DSHOT
uint16_t timerDmaSource;
bool configured;
uint8_t output;
uint8_t index;
#ifdef USE_DSHOT_TELEMETRY
bool useProshot;
volatile bool isInput;
volatile bool hasTelemetry;
uint16_t dshotTelemetryValue;
TIM_OCInitTypeDef ocInitStruct;
TIM_ICInitTypeDef icInitStruct;
DMA_InitTypeDef dmaInitStruct;
uint8_t dmaInputLen;
#ifdef STM32F3
DMA_Channel_TypeDef *dmaRef;
#else
DMA_Stream_TypeDef *dmaRef;
#endif
#endif
#endif
motorDmaTimer_t *timer;
volatile bool requestTelemetry;
#ifdef USE_DSHOT_TELEMETRY
uint32_t dmaBuffer[DSHOT_TELEMETRY_INPUT_LEN];
#else
#if defined(STM32F3) || defined(STM32F4) || defined(STM32F7)
uint32_t dmaBuffer[DSHOT_DMA_BUFFER_SIZE];
#else
uint8_t dmaBuffer[DSHOT_DMA_BUFFER_SIZE];
#endif
#endif
} motorDmaOutput_t;
motorDmaOutput_t *getMotorDmaOutput(uint8_t index);
@ -148,6 +172,7 @@ 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 struct {
volatile timCCR_t *ccr;
@ -170,10 +195,15 @@ typedef struct motorDevConfig_s {
uint8_t motorPwmInversion; // Active-High vs Active-Low. Useful for brushed FCs converted for brushless operation
uint8_t useUnsyncedPwm;
uint8_t useBurstDshot;
uint8_t useDshotTelemetry;
ioTag_t ioTags[MAX_SUPPORTED_MOTORS];
} motorDevConfig_t;
extern bool useBurstDshot;
#ifdef USE_DSHOT_TELEMETRY
extern bool useDshotTelemetry;
extern uint32_t dshotInvalidPacketCount;
#endif
void motorDevInit(const motorDevConfig_t *motorDevConfig, uint16_t idlePulse, uint8_t motorCount);
@ -202,12 +232,16 @@ void pwmWriteDshotCommandControl(uint8_t index);
void pwmWriteDshotCommand(uint8_t index, uint8_t motorCount, uint8_t command, bool blocking);
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);
#endif
void pwmCompleteDshotMotorUpdate(uint8_t motorCount);
bool pwmDshotCommandIsQueued(void);
bool pwmDshotCommandIsProcessing(void);
uint8_t pwmGetDshotCommand(uint8_t index);
bool pwmDshotCommandOutputIsEnabled(uint8_t motorCount);
uint16_t getDshotTelemetry(uint8_t index);
#endif
@ -221,6 +255,7 @@ 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);
void pwmWriteServo(uint8_t index, float value);