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Code Issues Wiki Activity

DMA bit banging Dshot, first cut

Browse source 
F405 working (OMNIBUSF4SD target)
F411 not tested
F722 working, needs testing (OMNINXT7 target)
F74x not working

NOX target (temporary)

bb_dshot with telemetry on f4
bbshot f7 targets and fix crash due to missing debug pins

remove empty line

add empty lines

remove OMNIBUSF4 specific debug pins

add missing comma

add missing comma

Use separate bbTimerHardware array to fix unified targets

eliminate now unneeded timerGetByUsage

don't duplicate timer1 def

Add auto mode, rename dshot_bbshot to dshot_bitbang

remove newline

renamve various files

various changes to address feedback

address feedback

address feedback

add pacer timers to timer show

don't disable telemetry if dshot_bitbang is on or auto

Address feedback, add faster decode implementation based on bit banding, modify dma parameters to reduce required memory bandwidth on half

remove debug output

remove NOINLINE

Protect gpio direction change with critical sections

FIXWS_SAVE_INDEX

add static back in

no forward typedef

address review feedback

disallow proshot1000 with dshot bitbang

Extracted and plumbed up 'dbgPin'.
This commit is contained in:
jflyper 2019-08-13 08:54:16 +09:00 • committed by Michael Keller
parent 37b059532f
commit adf6fd1764
33 changed files with 2065 additions and 77 deletions
Download patch file Download diff file Expand all files Collapse all files

68
src/main/drivers/pwm_output_dshot_shared.c
View file

@ -49,22 +49,6 @@
#include "pwm_output_dshot_shared.h"
#ifdef USE_DSHOT_TELEMETRY_STATS
#define DSHOT_TELEMETRY_QUALITY_WINDOW 1 // capture a rolling 1 second of packet stats
#define DSHOT_TELEMETRY_QUALITY_BUCKET_MS 100 // determines the granularity of the stats and the overall number of rolling buckets
#define DSHOT_TELEMETRY_QUALITY_BUCKET_COUNT (DSHOT_TELEMETRY_QUALITY_WINDOW * 1000 / DSHOT_TELEMETRY_QUALITY_BUCKET_MS)
typedef struct dshotTelemetryQuality_s {
uint32_t packetCountSum;
uint32_t invalidCountSum;
uint32_t packetCountArray[DSHOT_TELEMETRY_QUALITY_BUCKET_COUNT];
uint32_t invalidCountArray[DSHOT_TELEMETRY_QUALITY_BUCKET_COUNT];
uint8_t lastBucketIndex;
} dshotTelemetryQuality_t;
static FAST_RAM_ZERO_INIT dshotTelemetryQuality_t dshotTelemetryQuality[MAX_SUPPORTED_MOTORS];
#endif // USE_DSHOT_TELEMETRY_STATS
FAST_RAM_ZERO_INIT uint8_t dmaMotorTimerCount = 0;
#ifdef STM32F7
FAST_RAM_ZERO_INIT motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
@ -75,12 +59,8 @@ motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
#endif
#ifdef USE_DSHOT_TELEMETRY
uint32_t readDoneCount;
// TODO remove once debugging no longer needed
FAST_RAM_ZERO_INIT uint32_t dshotInvalidPacketCount;
FAST_RAM_ZERO_INIT uint32_t inputBuffer[GCR_TELEMETRY_INPUT_LEN];
FAST_RAM_ZERO_INIT uint32_t decodePacketDurationUs;
FAST_RAM_ZERO_INIT uint32_t inputStampUs;
FAST_RAM_ZERO_INIT dshotDMAHandlerCycleCounters_t dshotDMAHandlerCycleCounters;
@ -117,8 +97,8 @@ FAST_CODE void pwmWriteDshotInt(uint8_t index, uint16_t value)
#ifdef USE_DSHOT_TELEMETRY
// reset telemetry debug statistics every time telemetry is enabled
if (value == DSHOT_CMD_SIGNAL_LINE_CONTINUOUS_ERPM_TELEMETRY) {
dshotInvalidPacketCount = 0;
readDoneCount = 0;
dshotTelemetryState.invalidPacketCount = 0;
dshotTelemetryState.readCount = 0;
}
#endif
if (value) {
@ -155,9 +135,9 @@ FAST_CODE void pwmWriteDshotInt(uint8_t index, uint16_t value)
void dshotEnableChannels(uint8_t motorCount);
static uint32_t decodeTelemetryPacket(uint32_t buffer[], uint32_t count)
{
uint32_t start = micros();
uint32_t value = 0;
uint32_t oldValue = buffer[0];
int bits = 0;
@ -196,13 +176,11 @@ static uint32_t decodeTelemetryPacket(uint32_t buffer[], uint32_t count)
csum = csum ^ (csum >> 4); // xor nibbles
if ((csum & 0xf) != 0xf) {
decodePacketDurationUs = micros() - start;
return 0xffff;
}
decodedValue >>= 4;
if (decodedValue == 0x0fff) {
decodePacketDurationUs = micros() - start;
return 0;
}
decodedValue = (decodedValue & 0x000001ff) << ((decodedValue & 0xfffffe00) >> 9);
@ -210,38 +188,12 @@ static uint32_t decodeTelemetryPacket(uint32_t buffer[], uint32_t count)
return 0xffff;
}
uint32_t ret = (1000000 * 60 / 100 + decodedValue / 2) / decodedValue;
decodePacketDurationUs = micros() - start;
return ret;
}
uint16_t getDshotTelemetry(uint8_t index)
{
return dmaMotors[index].dshotTelemetryValue;
}
#endif
#ifdef USE_DSHOT_TELEMETRY
#ifdef USE_DSHOT_TELEMETRY_STATS
void updateDshotTelemetryQuality(dshotTelemetryQuality_t *qualityStats, bool packetValid, timeMs_t currentTimeMs)
{
uint8_t statsBucketIndex = (currentTimeMs / DSHOT_TELEMETRY_QUALITY_BUCKET_MS) % DSHOT_TELEMETRY_QUALITY_BUCKET_COUNT;
if (statsBucketIndex != qualityStats->lastBucketIndex) {
qualityStats->packetCountSum -= qualityStats->packetCountArray[statsBucketIndex];
qualityStats->invalidCountSum -= qualityStats->invalidCountArray[statsBucketIndex];
qualityStats->packetCountArray[statsBucketIndex] = 0;
qualityStats->invalidCountArray[statsBucketIndex] = 0;
qualityStats->lastBucketIndex = statsBucketIndex;
}
qualityStats->packetCountSum++;
qualityStats->packetCountArray[statsBucketIndex]++;
if (!packetValid) {
qualityStats->invalidCountSum++;
qualityStats->invalidCountArray[statsBucketIndex]++;
}
}
#endif // USE_DSHOT_TELEMETRY_STATS
FAST_CODE_NOINLINE bool pwmStartDshotMotorUpdate(void)
{
if (!useDshotTelemetry) {
@ -272,15 +224,15 @@ FAST_CODE_NOINLINE bool pwmStartDshotMotorUpdate(void)
uint16_t value = 0xffff;
if (edges > MIN_GCR_EDGES) {
readDoneCount++;
dshotTelemetryState.readCount++;
value = decodeTelemetryPacket(dmaMotors[i].dmaBuffer, edges);
#ifdef USE_DSHOT_TELEMETRY_STATS
bool validTelemetryPacket = false;
#endif
if (value != 0xffff) {
dmaMotors[i].dshotTelemetryValue = value;
dmaMotors[i].dshotTelemetryActive = true;
dshotTelemetryState.motorState[i].telemetryValue = value;
dshotTelemetryState.motorState[i].telemetryActive = true;
if (i < 4) {
DEBUG_SET(DEBUG_DSHOT_RPM_TELEMETRY, i, value);
}
@ -288,9 +240,9 @@ FAST_CODE_NOINLINE bool pwmStartDshotMotorUpdate(void)
validTelemetryPacket = true;
#endif
} else {
dshotInvalidPacketCount++;
dshotTelemetryState.invalidPacketCount++;
if (i == 0) {
memcpy(inputBuffer,dmaMotors[i].dmaBuffer,sizeof(inputBuffer));
memcpy(dshotTelemetryState.inputBuffer,dmaMotors[i].dmaBuffer,sizeof(dshotTelemetryState.inputBuffer));
}
}
#ifdef USE_DSHOT_TELEMETRY_STATS
@ -307,7 +259,7 @@ FAST_CODE_NOINLINE bool pwmStartDshotMotorUpdate(void)
bool isDshotMotorTelemetryActive(uint8_t motorIndex)
{
return dmaMotors[motorIndex].dshotTelemetryActive;
return dshotTelemetryState.motorState[motorIndex].telemetryActive;
}
bool isDshotTelemetryActive(void)
@ -325,7 +277,7 @@ int16_t getDshotTelemetryMotorInvalidPercent(uint8_t motorIndex)
{
int16_t invalidPercent = 0;
if (dmaMotors[motorIndex].dshotTelemetryActive) {
if (dshotTelemetryState.motorState[motorIndex].telemetryActive) {
const uint32_t totalCount = dshotTelemetryQuality[motorIndex].packetCountSum;
const uint32_t invalidCount = dshotTelemetryQuality[motorIndex].invalidCountSum;
if (totalCount > 0) {