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Add motor telemetry data to MSP

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Adds the RPM (ESC sensor or DSHOT telemetry), invalid packet stats (DSHOT telemetry), and ESC temperature (ESC sensor) for each motor to MSP.

Adds controlling flags and `motor_poles` to `MSP_MOTOR_CONFIG`.

Added to the MSP_MOTOR_CONFIG message:
U8    configured motor count
U8    motor poles
U8    dshot telemetry enabled (boolean)
U8    esc sensor enabled (boolean)

New MSP_MOTOR_DSHOT_TELEMETRY message
U8    motor_count - number of active motors for which data will follow
Loop for motor_count
U32   motor_rpm
U16   invalid_packet_percent - 2 decimal places. So 10000 is 100.00%
U8    esc temperature (degrees celcius)
U16   esc voltage (0.01V per unit)
U16   esc current (0.01A per unit)
U16   esc mAh consumption
This commit is contained in:
Bruce Luckcuck 2019-08-17 15:23:19 -04:00
parent b215def714
commit d698a559c5
2 changed files with 72 additions and 0 deletions
Download patch file Download diff file Expand all files Collapse all files

71
src/main/msp/msp.c
View file

@ -49,6 +49,7 @@
#include "drivers/bus_i2c.h"
#include "drivers/camera_control.h"
#include "drivers/compass/compass.h"
#include "drivers/dshot.h"
#include "drivers/flash.h"
#include "drivers/io.h"
#include "drivers/max7456.h"
@ -983,6 +984,55 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
break;
// Added in API version 1.42
case MSP_MOTOR_TELEMETRY:
sbufWriteU8(dst, getMotorCount());
for (unsigned i = 0; i < getMotorCount(); i++) {
int rpm = 0;
uint16_t invalidPct = 0;
uint8_t escTemperature = 0; // degrees celcius
uint16_t escVoltage = 0; // 0.01V per unit
uint16_t escCurrent = 0; // 0.01A per unit
uint16_t escConsumption = 0; // mAh
bool rpmDataAvailable = false;
#ifdef USE_DSHOT_TELEMETRY
if (useDshotTelemetry) {
rpm = (int)getDshotTelemetry(i) * 100 * 2 / motorConfig()->motorPoleCount;
rpmDataAvailable = true;
invalidPct = 10000; // 100.00%
#ifdef USE_DSHOT_TELEMETRY_STATS
if (isDshotMotorTelemetryActive(i)) {
invalidPct = getDshotTelemetryMotorInvalidPercent(i);
}
#endif
}
#endif
#ifdef USE_ESC_SENSOR
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
escSensorData_t *escData = getEscSensorData(i);
if (!rpmDataAvailable) { // We want DSHOT telemetry RPM data (if available) to have precedence
rpm = calcEscRpm(escData->rpm);
rpmDataAvailable = true;
}
escTemperature = escData->temperature;
escVoltage = escData->voltage;
escCurrent = escData->current;
escConsumption = escData->consumption;
}
#endif
sbufWriteU32(dst, (rpmDataAvailable ? rpm : 0));
sbufWriteU16(dst, invalidPct);
sbufWriteU8(dst, escTemperature);
sbufWriteU16(dst, escVoltage);
sbufWriteU16(dst, escCurrent);
sbufWriteU16(dst, escConsumption);
}
break;
case MSP_RC:
for (int i = 0; i < rxRuntimeConfig.channelCount; i++) {
sbufWriteU16(dst, rcData[i]);
@ -1112,6 +1162,21 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
sbufWriteU16(dst, motorConfig()->minthrottle);
sbufWriteU16(dst, motorConfig()->maxthrottle);
sbufWriteU16(dst, motorConfig()->mincommand);
// API 1.42
sbufWriteU8(dst, getMotorCount());
sbufWriteU8(dst, motorConfig()->motorPoleCount);
#ifdef USE_DSHOT_TELEMETRY
sbufWriteU8(dst, useDshotTelemetry); // DSHOT telemetry is enabled
#else
sbufWriteU8(dst, 0);
#endif
#ifdef USE_ESC_SENSOR
sbufWriteU8(dst, featureIsEnabled(FEATURE_ESC_SENSOR)); // ESC sensor available
#else
sbufWriteU8(dst, 0);
#endif
break;
#ifdef USE_MAG
@ -1121,6 +1186,7 @@ static bool mspProcessOutCommand(uint8_t cmdMSP, sbuf_t *dst)
#endif
#if defined(USE_ESC_SENSOR)
// Deprecated in favor of MSP_MOTOR_TELEMETY as of API version 1.42
case MSP_ESC_SENSOR_DATA:
if (featureIsEnabled(FEATURE_ESC_SENSOR)) {
sbufWriteU8(dst, getMotorCount());
@ -1993,6 +2059,11 @@ static mspResult_e mspProcessInCommand(uint8_t cmdMSP, sbuf_t *src)
motorConfigMutable()->minthrottle = sbufReadU16(src);
motorConfigMutable()->maxthrottle = sbufReadU16(src);
motorConfigMutable()->mincommand = sbufReadU16(src);
// version 1.42
if (sbufBytesRemaining(src)) {
motorConfigMutable()->motorPoleCount = sbufReadU8(src);
}
break;
#ifdef USE_GPS

1
src/main/msp/msp_protocol.h
View file

@ -283,6 +283,7 @@
#define MSP_GPS_RESCUE_PIDS 136 //out message GPS Rescues's throttleP and velocity PIDS + yaw P
#define MSP_VTXTABLE_BAND 137 //out message vtxTable band/channel data
#define MSP_VTXTABLE_POWERLEVEL 138 //out message vtxTable powerLevel data
#define MSP_MOTOR_TELEMETRY 139 //out message Per-motor telemetry data (RPM, packet stats, ESC temp, etc.)
#define MSP_SET_RAW_RC 200 //in message 8 rc chan
#define MSP_SET_RAW_GPS 201 //in message fix, numsat, lat, lon, alt, speed