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Code Issues Wiki Activity

Removed all motors telemetry calculations to avoid extended dshot telemetry overhead

Browse source 
Basic DSHOT telemetry restablished again

Implemented new mechanism to activate EDT. The old mechanism no longer works

Added dshot_edt configuration parameter to enable edt. Parameter is OFF by default

Only send DSHOT edt enable in core.c::tryArm if dshot_edt=ON

Fixed review findings
This commit is contained in:
iso9660 2022-09-24 22:56:33 +02:00 • committed by danmos
parent d72f18fb3f
commit ccdccbf8a9
9 changed files with 215 additions and 234 deletions
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3
src/main/cli/settings.c
View file

@ -843,7 +843,8 @@ const clivalue_t valueTable[] = {
{ "dshot_burst", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON_AUTO }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useBurstDshot) },
#endif
#ifdef USE_DSHOT_TELEMETRY
{ PARAM_NAME_DSHOT_BIDIR, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useDshotTelemetry) },
{ PARAM_NAME_DSHOT_BIDIR, VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useDshotTelemetry) },
{ "dshot_edt", VAR_UINT8 | MASTER_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useDshotEdt) },
#endif
#ifdef USE_DSHOT_BITBANG
{ "dshot_bitbang", VAR_UINT8 | HARDWARE_VALUE | MODE_LOOKUP, .config.lookup = { TABLE_OFF_ON_AUTO }, PG_MOTOR_CONFIG, offsetof(motorConfig_t, dev.useDshotBitbang) },

299
src/main/drivers/dshot.c
View file

@ -134,8 +134,151 @@ FAST_CODE uint16_t prepareDshotPacket(dshotProtocolControl_t *pcb)
FAST_DATA_ZERO_INIT dshotTelemetryState_t dshotTelemetryState;
static uint32_t dshot_decode_eRPM_telemetry_value(uint16_t value)
{
// eRPM range
if (value == 0x0fff) {
return 0;
}
// Convert value to 16 bit from the GCR telemetry format (eeem mmmm mmmm)
value = (value & 0x01ff) << ((value & 0xfe00) >> 9);
if (!value) {
return DSHOT_TELEMETRY_INVALID;
}
// Convert period to erpm * 100
return (1000000 * 60 / 100 + value / 2) / value;
}
static void dshot_decode_telemetry_value(uint8_t motorIndex, uint32_t *pDecoded, dshotTelemetryType_t *pType)
{
uint16_t value = dshotTelemetryState.motorState[motorIndex].rawValue;
if (dshotTelemetryState.motorState[motorIndex].telemetryTypes == DSHOT_NORMAL_TELEMETRY_MASK) { /* Check DSHOT_TELEMETRY_TYPE_eRPM mask */
// Decode eRPM telemetry
*pDecoded = dshot_decode_eRPM_telemetry_value(value);
// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_eRPM;
} else {
// Decode Extended DSHOT telemetry
switch (value & 0x0f00) {
case 0x0200:
// Temperature range (in degree Celsius, just like Blheli_32 and KISS)
*pDecoded = value & 0x00ff;
// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_TEMPERATURE;
break;
case 0x0400:
// Voltage range (0-63,75V step 0,25V)
*pDecoded = value & 0x00ff;
// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_VOLTAGE;
break;
case 0x0600:
// Current range (0-255A step 1A)
*pDecoded = value & 0x00ff;
// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_CURRENT;
break;
case 0x0800:
// Debug 1 value
*pDecoded = value & 0x00ff;
// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_DEBUG1;
break;
case 0x0A00:
// Debug 2 value
*pDecoded = value & 0x00ff;
// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_DEBUG2;
break;
case 0x0C00:
// Debug 3 value
*pDecoded = value & 0x00ff;
// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_DEBUG3;
break;
case 0x0E00:
// State / events
*pDecoded = value & 0x00ff;
// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_STATE_EVENTS;
break;
default:
// Decode as eRPM
*pDecoded = dshot_decode_eRPM_telemetry_value(value);
// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_eRPM;
break;
}
}
}
static void dshotUpdateTelemetryData(uint8_t motorIndex, dshotTelemetryType_t type, uint32_t value)
{
// Update telemetry data
dshotTelemetryState.motorState[motorIndex].telemetryData[type] = value;
dshotTelemetryState.motorState[motorIndex].telemetryTypes |= (1 << type);
// Update max temp
if ((type == DSHOT_TELEMETRY_TYPE_TEMPERATURE) && (value > dshotTelemetryState.motorState[motorIndex].maxTemp)) {
dshotTelemetryState.motorState[motorIndex].maxTemp = value;
}
}
uint16_t getDshotTelemetry(uint8_t index)
{
// Process telemetry in case it haven´t been processed yet
if (dshotTelemetryState.rawValueState == DSHOT_RAW_VALUE_STATE_NOT_PROCESSED) {
const unsigned motorCount = motorDeviceCount();
uint32_t rpmTotal = 0;
uint32_t rpmSamples = 0;
// Decode all telemetry data now to discharge interrupt from this task
for (uint8_t k = 0; k < motorCount; k++) {
dshotTelemetryType_t type;
uint32_t value;
dshot_decode_telemetry_value(k, &value, &type);
if (value != DSHOT_TELEMETRY_INVALID) {
dshotUpdateTelemetryData(k, type, value);
if (type == DSHOT_TELEMETRY_TYPE_eRPM) {
rpmTotal += value;
rpmSamples++;
}
}
}
// Update average
if (rpmSamples > 0) {
dshotTelemetryState.averageRpm = rpmTotal / rpmSamples;
}
// Set state to processed
dshotTelemetryState.rawValueState = DSHOT_RAW_VALUE_STATE_PROCESSED;
}
return dshotTelemetryState.motorState[index].telemetryData[DSHOT_TELEMETRY_TYPE_eRPM];
}
@ -158,42 +301,9 @@ bool isDshotTelemetryActive(void)
return false;
}
dshotTelemetryType_t dshot_get_telemetry_type_to_decode(uint8_t motorIndex)
{
dshotTelemetryType_t type;
// Prepare the allowed telemetry to be read
if ((dshotTelemetryState.motorState[motorIndex].telemetryTypes & DSHOT_EXTENDED_TELEMETRY_MASK) != 0) {
// Allow decoding all kind of telemetry frames
type = DSHOT_TELEMETRY_TYPE_COUNT;
} else if (dshotCommandGetCurrent(motorIndex) == DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE) {
// No empty command queue check needed because responses are always originated after a request
// Always checking the current existing request
// Allow decoding only extended telemetry enable frame (during arming)
type = DSHOT_TELEMETRY_TYPE_STATE_EVENTS;
} else {
// Allow decoding only eRPM telemetry frame
type = DSHOT_TELEMETRY_TYPE_eRPM;
}
return type;
}
void dshotCleanTelemetryData(void)
{
memset(dshotTelemetryState.motorState, 0, MAX_SUPPORTED_MOTORS * sizeof(dshotTelemetryMotorState_t));
}
FAST_CODE void dshotUpdateTelemetryData(uint8_t motorIndex, dshotTelemetryType_t type, uint16_t value)
{
// Update telemetry data
dshotTelemetryState.motorState[motorIndex].telemetryData[type] = value;
dshotTelemetryState.motorState[motorIndex].telemetryTypes |= (1 << type);
// Update max temp
if ((type == DSHOT_TELEMETRY_TYPE_TEMPERATURE) && (value > dshotTelemetryState.motorState[motorIndex].maxTemp)) {
dshotTelemetryState.motorState[motorIndex].maxTemp = value;
}
memset(&dshotTelemetryState, 0, sizeof(dshotTelemetryState));
}
uint32_t erpmToRpm(uint16_t erpm)
@ -285,124 +395,3 @@ void validateAndfixMotorOutputReordering(uint8_t *array, const unsigned size)
}
}
}
static uint32_t dshot_decode_eRPM_telemetry_value(uint32_t value)
{
// eRPM range
if (value == 0x0fff) {
return 0;
}
// Convert value to 16 bit from the GCR telemetry format (eeem mmmm mmmm)
value = (value & 0x000001ff) << ((value & 0xfffffe00) >> 9);
if (!value) {
return DSHOT_TELEMETRY_INVALID;
}
// Convert period to erpm * 100
return (1000000 * 60 / 100 + value / 2) / value;
}
uint32_t dshot_decode_telemetry_value(uint32_t value, dshotTelemetryType_t *type)
{
uint32_t decoded;
switch (*type) {
case DSHOT_TELEMETRY_TYPE_eRPM:
// Expect only eRPM telemetry
decoded = dshot_decode_eRPM_telemetry_value(value);
break;
case DSHOT_TELEMETRY_TYPE_STATE_EVENTS:
// Expect an extended telemetry enable frame
if (value == 0x0E00) {
// Decode
decoded = 0;
// Set telemetry type
*type = DSHOT_TELEMETRY_TYPE_STATE_EVENTS;
} else {
// Unexpected frame
decoded = DSHOT_TELEMETRY_INVALID;
// Set telemetry type
*type = DSHOT_TELEMETRY_TYPE_eRPM;
}
break;
default:
// Extended DSHOT telemetry
switch (value & 0x0f00) {
case 0x0200:
// Temperature range (in degree Celsius, just like Blheli_32 and KISS)
decoded = value & 0x00ff;
// Set telemetry type
*type = DSHOT_TELEMETRY_TYPE_TEMPERATURE;
break;
case 0x0400:
// Voltage range (0-63,75V step 0,25V)
decoded = value & 0x00ff;
// Set telemetry type
*type = DSHOT_TELEMETRY_TYPE_VOLTAGE;
break;
case 0x0600:
// Current range (0-255A step 1A)
decoded = value & 0x00ff;
// Set telemetry type
*type = DSHOT_TELEMETRY_TYPE_CURRENT;
break;
case 0x0800:
// Debug 1 value
decoded = value & 0x00ff;
// Set telemetry type
*type = DSHOT_TELEMETRY_TYPE_DEBUG1;
break;
case 0x0A00:
// Debug 2 value
decoded = value & 0x00ff;
// Set telemetry type
*type = DSHOT_TELEMETRY_TYPE_DEBUG2;
break;
case 0x0C00:
// Debug 3 value
decoded = value & 0x00ff;
// Set telemetry type
*type = DSHOT_TELEMETRY_TYPE_DEBUG3;
break;
case 0x0E00:
// State / events
decoded = value & 0x00ff;
// Set telemetry type
*type = DSHOT_TELEMETRY_TYPE_STATE_EVENTS;
break;
default:
// Decode as eRPM
decoded = dshot_decode_eRPM_telemetry_value(value);
// Set telemetry type
*type = DSHOT_TELEMETRY_TYPE_eRPM;
break;
}
break;
}
return decoded;
}

18
src/main/drivers/dshot.h
View file

@ -54,7 +54,8 @@ typedef struct dshotTelemetryQuality_s {
extern dshotTelemetryQuality_t dshotTelemetryQuality[MAX_SUPPORTED_MOTORS];
#endif // USE_DSHOT_TELEMETRY_STATS
#define DSHOT_EXTENDED_TELEMETRY_MASK (~(1<<DSHOT_TELEMETRY_TYPE_eRPM))
#define DSHOT_NORMAL_TELEMETRY_MASK (1 << DSHOT_TELEMETRY_TYPE_eRPM)
#define DSHOT_EXTENDED_TELEMETRY_MASK (~DSHOT_NORMAL_TELEMETRY_MASK)
typedef enum dshotTelemetryType_e {
DSHOT_TELEMETRY_TYPE_eRPM = 0,
@ -68,6 +69,12 @@ typedef enum dshotTelemetryType_e {
DSHOT_TELEMETRY_TYPE_COUNT = 8
} dshotTelemetryType_t;
typedef enum dshotRawValueState_e {
DSHOT_RAW_VALUE_STATE_INVALID = 0,
DSHOT_RAW_VALUE_STATE_NOT_PROCESSED = 1,
DSHOT_RAW_VALUE_STATE_PROCESSED = 2
} dshotRawValueState_t;
typedef struct dshotProtocolControl_s {
uint16_t value;
bool requestTelemetry;
@ -83,8 +90,9 @@ uint16_t prepareDshotPacket(dshotProtocolControl_t *pcb);
extern bool useDshotTelemetry;
typedef struct dshotTelemetryMotorState_s {
uint8_t telemetryTypes;
uint16_t rawValue;
uint16_t telemetryData[DSHOT_TELEMETRY_TYPE_COUNT];
uint8_t telemetryTypes;
uint8_t maxTemp;
} dshotTelemetryMotorState_t;
@ -96,6 +104,7 @@ typedef struct dshotTelemetryState_s {
dshotTelemetryMotorState_t motorState[MAX_SUPPORTED_MOTORS];
uint32_t inputBuffer[MAX_GCR_EDGES];
uint32_t averageRpm;
dshotRawValueState_t rawValueState;
} dshotTelemetryState_t;
extern dshotTelemetryState_t dshotTelemetryState;
@ -114,9 +123,4 @@ bool isDshotTelemetryActive(void);
int16_t getDshotTelemetryMotorInvalidPercent(uint8_t motorIndex);
void validateAndfixMotorOutputReordering(uint8_t *array, const unsigned size);
dshotTelemetryType_t dshot_get_telemetry_type_to_decode(uint8_t motorIndex);
uint32_t dshot_decode_telemetry_value(uint32_t value, dshotTelemetryType_t *type);
void dshotCleanTelemetryData(void);
void dshotUpdateTelemetryData(uint8_t motorIndex, dshotTelemetryType_t type, uint16_t value);

41
src/main/drivers/dshot_bitbang.c
View file

@ -495,9 +495,6 @@ static bool bbMotorConfig(IO_t io, uint8_t motorIndex, motorPwmProtocolTypes_e p
static bool bbUpdateStart(void)
{
uint32_t totalErpm;
uint32_t totalMotorsWithErpmData;
#ifdef USE_DSHOT_TELEMETRY
if (useDshotTelemetry) {
#ifdef USE_DSHOT_TELEMETRY_STATS
@ -510,11 +507,7 @@ static bool bbUpdateStart(void)
return false;
}
totalErpm = 0;
totalMotorsWithErpmData = 0;
for (int motorIndex = 0; motorIndex < MAX_SUPPORTED_MOTORS && motorIndex < motorCount; motorIndex++) {
dshotTelemetryType_t type;
#ifdef USE_DSHOT_CACHE_MGMT
// Only invalidate the buffer once. If all motors are on a common port they'll share a buffer.
bool invalidated = false;
@ -529,46 +522,42 @@ static bool bbUpdateStart(void)
}
#endif
// Get dshot telemetry type to decode
type = dshot_get_telemetry_type_to_decode(motorIndex);
#ifdef STM32F4
uint32_t value = decode_bb_bitband(
uint32_t rawValue = decode_bb_bitband(
bbMotors[motorIndex].bbPort->portInputBuffer,
bbMotors[motorIndex].bbPort->portInputCount - bbDMA_Count(bbMotors[motorIndex].bbPort),
bbMotors[motorIndex].pinIndex, &type);
bbMotors[motorIndex].pinIndex);
#else
uint32_t value = decode_bb(
uint32_t rawValue = decode_bb(
bbMotors[motorIndex].bbPort->portInputBuffer,
bbMotors[motorIndex].bbPort->portInputCount - bbDMA_Count(bbMotors[motorIndex].bbPort),
bbMotors[motorIndex].pinIndex, &type);
bbMotors[motorIndex].pinIndex);
#endif
if (value == DSHOT_TELEMETRY_NOEDGE) {
if (rawValue == DSHOT_TELEMETRY_NOEDGE) {
continue;
}
dshotTelemetryState.readCount++;
if (value != DSHOT_TELEMETRY_INVALID) {
if (type == DSHOT_TELEMETRY_TYPE_eRPM) {
totalErpm += value;
totalMotorsWithErpmData++;
if (rawValue != DSHOT_TELEMETRY_INVALID) {
// Check EDT enable or store raw value
if ((rawValue == 0x0E00) && (dshotCommandGetCurrent(motorIndex) == DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE)) {
dshotTelemetryState.motorState[motorIndex].telemetryTypes = DSHOT_TELEMETRY_TYPE_STATE_EVENTS;
} else {
dshotTelemetryState.motorState[motorIndex].rawValue = rawValue;
}
dshotUpdateTelemetryData(motorIndex, type, value);
if (motorIndex < 4) {
DEBUG_SET(DEBUG_DSHOT_RPM_TELEMETRY, motorIndex, value);
DEBUG_SET(DEBUG_DSHOT_RPM_TELEMETRY, motorIndex, rawValue);
}
} else {
dshotTelemetryState.invalidPacketCount++;
}
#ifdef USE_DSHOT_TELEMETRY_STATS
updateDshotTelemetryQuality(&dshotTelemetryQuality[motorIndex], value != DSHOT_TELEMETRY_INVALID, currentTimeMs);
updateDshotTelemetryQuality(&dshotTelemetryQuality[motorIndex], rawValue != DSHOT_TELEMETRY_INVALID, currentTimeMs);
#endif
}
// Calculate average when possible
if (totalMotorsWithErpmData > 0) {
dshotTelemetryState.averageRpm = erpmToRpm(totalErpm / totalMotorsWithErpmData);
}
dshotTelemetryState.rawValueState = DSHOT_RAW_VALUE_STATE_NOT_PROCESSED;
}
#endif
for (int i = 0; i < usedMotorPorts; i++) {

12
src/main/drivers/dshot_bitbang_decode.c
View file

@ -43,7 +43,7 @@ int sequenceIndex = 0;
#endif
static uint32_t decode_bb_value(uint32_t value, uint16_t buffer[], uint32_t count, uint32_t bit, dshotTelemetryType_t *type)
static uint32_t decode_bb_value(uint32_t value, uint16_t buffer[], uint32_t count, uint32_t bit)
{
#ifndef DEBUG_BBDECODE
UNUSED(buffer);
@ -75,14 +75,14 @@ static uint32_t decode_bb_value(uint32_t value, uint16_t buffer[], uint32_t coun
#endif
value = DSHOT_TELEMETRY_INVALID;
} else {
value = dshot_decode_telemetry_value(decodedValue >> 4, type);
value = decodedValue >> 4;
}
return value;
}
uint32_t decode_bb_bitband( uint16_t buffer[], uint32_t count, uint32_t bit, dshotTelemetryType_t *type)
uint32_t decode_bb_bitband( uint16_t buffer[], uint32_t count, uint32_t bit)
{
#ifdef DEBUG_BBDECODE
memset(sequence, 0, sizeof(sequence));
@ -193,10 +193,10 @@ uint32_t decode_bb_bitband( uint16_t buffer[], uint32_t count, uint32_t bit, dsh
value |= 1 << (nlen - 1);
}
return decode_bb_value(value, buffer, count, bit, type);
return decode_bb_value(value, buffer, count, bit);
}
FAST_CODE uint32_t decode_bb( uint16_t buffer[], uint32_t count, uint32_t bit, dshotTelemetryType_t *type)
FAST_CODE uint32_t decode_bb( uint16_t buffer[], uint32_t count, uint32_t bit)
{
#ifdef DEBUG_BBDECODE
memset(sequence, 0, sizeof(sequence));
@ -286,7 +286,7 @@ FAST_CODE uint32_t decode_bb( uint16_t buffer[], uint32_t count, uint32_t bit, d
value |= 1 << (nlen - 1);
}
return decode_bb_value(value, buffer, count, bit, type);
return decode_bb_value(value, buffer, count, bit);
}
#endif

4
src/main/drivers/dshot_bitbang_decode.h
View file

@ -24,8 +24,8 @@
uint32_t decode_bb(uint16_t buffer[], uint32_t count, uint32_t mask, dshotTelemetryType_t *type);
uint32_t decode_bb_bitband( uint16_t buffer[], uint32_t count, uint32_t bit, dshotTelemetryType_t *type);
uint32_t decode_bb(uint16_t buffer[], uint32_t count, uint32_t mask);
uint32_t decode_bb_bitband( uint16_t buffer[], uint32_t count, uint32_t bit);
#endif

32
src/main/drivers/pwm_output_dshot_shared.c
View file

@ -127,7 +127,7 @@ 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, dshotTelemetryType_t *type)
static uint32_t decodeTelemetryPacket(uint32_t buffer[], uint32_t count)
{
uint32_t value = 0;
uint32_t oldValue = buffer[0];
@ -170,7 +170,7 @@ static uint32_t decodeTelemetryPacket(uint32_t buffer[], uint32_t count, dshotTe
return DSHOT_TELEMETRY_INVALID;
}
return dshot_decode_telemetry_value(decodedValue >> 4, type);
return decodedValue >> 4;
}
#endif
@ -186,9 +186,6 @@ FAST_CODE_NOINLINE bool pwmStartDshotMotorUpdate(void)
const timeMs_t currentTimeMs = millis();
#endif
const timeUs_t currentUs = micros();
dshotTelemetryType_t type;
uint32_t totalErpm = 0;
uint32_t totalMotorsWithErpmData = 0;
for (int i = 0; i < dshotPwmDevice.count; i++) {
timeDelta_t usSinceInput = cmpTimeUs(currentUs, inputStampUs);
@ -208,27 +205,26 @@ FAST_CODE_NOINLINE bool pwmStartDshotMotorUpdate(void)
TIM_DMACmd(dmaMotors[i].timerHardware->tim, dmaMotors[i].timerDmaSource, DISABLE);
#endif
uint16_t value;
uint16_t rawValue;
if (edges > MIN_GCR_EDGES) {
dshotTelemetryState.readCount++;
// Get dshot telemetry type to decode
type = dshot_get_telemetry_type_to_decode(i);
value = decodeTelemetryPacket(dmaMotors[i].dmaBuffer, edges, &type);
rawValue = decodeTelemetryPacket(dmaMotors[i].dmaBuffer, edges);
#ifdef USE_DSHOT_TELEMETRY_STATS
bool validTelemetryPacket = false;
#endif
if (value != DSHOT_TELEMETRY_INVALID) {
if (type == DSHOT_TELEMETRY_TYPE_eRPM) {
totalErpm += value;
totalMotorsWithErpmData++;
if (rawValue != DSHOT_TELEMETRY_INVALID) {
// Check EDT enable or store raw value
if ((rawValue == 0x0E00) && (dshotCommandGetCurrent(i) == DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE)) {
dshotTelemetryState.motorState[i].telemetryTypes = DSHOT_TELEMETRY_TYPE_STATE_EVENTS;
} else {
dshotTelemetryState.motorState[i].rawValue = rawValue;
}
dshotUpdateTelemetryData(value, type, value);
if (i < 4) {
DEBUG_SET(DEBUG_DSHOT_RPM_TELEMETRY, i, value);
DEBUG_SET(DEBUG_DSHOT_RPM_TELEMETRY, i, rawValue);
}
#ifdef USE_DSHOT_TELEMETRY_STATS
validTelemetryPacket = true;
@ -247,9 +243,7 @@ FAST_CODE_NOINLINE bool pwmStartDshotMotorUpdate(void)
pwmDshotSetDirectionOutput(&dmaMotors[i]);
}
if (totalMotorsWithErpmData > 0) {
dshotTelemetryState.averageRpm = erpmToRpm(totalErpm / totalMotorsWithErpmData);
}
dshotTelemetryState.rawValueState = DSHOT_RAW_VALUE_STATE_NOT_PROCESSED;
inputStampUs = 0;
dshotEnableChannels(dshotPwmDevice.count);
return true;

39
src/main/fc/core.c
View file

@ -509,29 +509,32 @@ void tryArm(void)
return;
}
if (isMotorProtocolDshot()) {
#if defined(USE_ESC_SENSOR) && defined(USE_DSHOT_TELEMETRY)
// Try to activate extended DSHOT telemetry only if no esc sensor exists and dshot telemetry is active
if (isMotorProtocolDshot() && !featureIsEnabled(FEATURE_ESC_SENSOR) && motorConfig()->dev.useDshotTelemetry) {
dshotCleanTelemetryData();
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE, DSHOT_CMD_TYPE_INLINE);
}
// Try to activate extended DSHOT telemetry only if no esc sensor exists and dshot telemetry is active
if (!featureIsEnabled(FEATURE_ESC_SENSOR) && motorConfig()->dev.useDshotTelemetry) {
dshotCleanTelemetryData();
if (motorConfig()->dev.useDshotEdt) {
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE, DSHOT_CMD_TYPE_INLINE);
}
}
#endif
if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH)) {
// Set motor spin direction
if (!(IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) || (tryingToArm == ARMING_DELAYED_CRASHFLIP))) {
flipOverAfterCrashActive = false;
if (!featureIsEnabled(FEATURE_3D)) {
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, DSHOT_CMD_TYPE_INLINE);
}
} else {
flipOverAfterCrashActive = true;
if (isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH)) {
// Set motor spin direction
if (!(IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) || (tryingToArm == ARMING_DELAYED_CRASHFLIP))) {
flipOverAfterCrashActive = false;
if (!featureIsEnabled(FEATURE_3D)) {
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, DSHOT_CMD_TYPE_INLINE);
}
} else {
flipOverAfterCrashActive = true;
#ifdef USE_RUNAWAY_TAKEOFF
runawayTakeoffCheckDisabled = false;
runawayTakeoffCheckDisabled = false;
#endif
if (!featureIsEnabled(FEATURE_3D)) {
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED, DSHOT_CMD_TYPE_INLINE);
if (!featureIsEnabled(FEATURE_3D)) {
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED, DSHOT_CMD_TYPE_INLINE);
}
}
}
}

1
src/main/pg/motor.h
View file

@ -44,6 +44,7 @@ typedef struct motorDevConfig_s {
uint8_t useUnsyncedPwm;
uint8_t useBurstDshot;
uint8_t useDshotTelemetry;
uint8_t useDshotEdt;
ioTag_t ioTags[MAX_SUPPORTED_MOTORS];
uint8_t motorTransportProtocol;
uint8_t useDshotBitbang;