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Merge pull request #7295 from iNavFlight/dzikuvx-esc-protocols-cleanup

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Cleanup not used ESC protocols
This commit is contained in:
Paweł Spychalski 2021-07-23 12:40:32 +02:00 • committed by GitHub
commit 3f1166f724
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GPG key ID: 4AEE18F83AFDEB23
30 changed files with 11 additions and 233 deletions
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2
src/main/CMakeLists.txt
View file

@ -351,8 +351,6 @@ main_sources(COMMON_SRC
io/beeper.c
io/beeper.h
io/esc_serialshot.c
io/esc_serialshot.h
io/servo_sbus.c
io/servo_sbus.h
io/frsky_osd.c

17
src/main/drivers/pwm_mapping.c
View file

@ -67,16 +67,13 @@ static const char * pwmInitErrorMsg[] = {
};
static const motorProtocolProperties_t motorProtocolProperties[] = {
[PWM_TYPE_STANDARD] = { .usesHwTimer = true, .isDSHOT = false, .isSerialShot = false },
[PWM_TYPE_ONESHOT125] = { .usesHwTimer = true, .isDSHOT = false, .isSerialShot = false },
[PWM_TYPE_ONESHOT42] = { .usesHwTimer = true, .isDSHOT = false, .isSerialShot = false },
[PWM_TYPE_MULTISHOT] = { .usesHwTimer = true, .isDSHOT = false, .isSerialShot = false },
[PWM_TYPE_BRUSHED] = { .usesHwTimer = true, .isDSHOT = false, .isSerialShot = false },
[PWM_TYPE_DSHOT150] = { .usesHwTimer = true, .isDSHOT = true, .isSerialShot = false },
[PWM_TYPE_DSHOT300] = { .usesHwTimer = true, .isDSHOT = true, .isSerialShot = false },
[PWM_TYPE_DSHOT600] = { .usesHwTimer = true, .isDSHOT = true, .isSerialShot = false },
[PWM_TYPE_DSHOT1200] = { .usesHwTimer = true, .isDSHOT = true, .isSerialShot = false },
[PWM_TYPE_SERIALSHOT] = { .usesHwTimer = false, .isDSHOT = false, .isSerialShot = true },
[PWM_TYPE_STANDARD] = { .usesHwTimer = true, .isDSHOT = false },
[PWM_TYPE_ONESHOT125] = { .usesHwTimer = true, .isDSHOT = false },
[PWM_TYPE_MULTISHOT] = { .usesHwTimer = true, .isDSHOT = false },
[PWM_TYPE_BRUSHED] = { .usesHwTimer = true, .isDSHOT = false },
[PWM_TYPE_DSHOT150] = { .usesHwTimer = true, .isDSHOT = true },
[PWM_TYPE_DSHOT300] = { .usesHwTimer = true, .isDSHOT = true },
[PWM_TYPE_DSHOT600] = { .usesHwTimer = true, .isDSHOT = true },
};
pwmInitError_e getPwmInitError(void)

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

@ -39,14 +39,11 @@
typedef enum {
PWM_TYPE_STANDARD = 0,
PWM_TYPE_ONESHOT125,
PWM_TYPE_ONESHOT42,
PWM_TYPE_MULTISHOT,
PWM_TYPE_BRUSHED,
PWM_TYPE_DSHOT150,
PWM_TYPE_DSHOT300,
PWM_TYPE_DSHOT600,
PWM_TYPE_DSHOT1200,
PWM_TYPE_SERIALSHOT,
} motorPwmProtocolTypes_e;
typedef enum {
@ -73,7 +70,6 @@ typedef struct rangefinderIOConfig_s {
typedef struct {
bool usesHwTimer;
bool isDSHOT;
bool isSerialShot;
} motorProtocolProperties_t;
bool pwmMotorAndServoInit(void);

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

@ -37,7 +37,6 @@ FILE_COMPILE_FOR_SPEED
#include "drivers/io_pca9685.h"
#include "io/pwmdriver_i2c.h"
#include "io/esc_serialshot.h"
#include "io/servo_sbus.h"
#include "sensors/esc_sensor.h"
@ -50,7 +49,6 @@ FILE_COMPILE_FOR_SPEED
#define MULTISHOT_20US_MULT (MULTISHOT_TIMER_HZ * 20 / 1000000.0f / 1000.0f)
#ifdef USE_DSHOT
#define MOTOR_DSHOT1200_HZ 24000000
#define MOTOR_DSHOT600_HZ 12000000
#define MOTOR_DSHOT300_HZ 6000000
#define MOTOR_DSHOT150_HZ 3000000
@ -100,7 +98,7 @@ static pwmWriteFuncPtr motorWritePtr = NULL; // Function to write val
static pwmOutputPort_t * servos[MAX_SERVOS];
static pwmWriteFuncPtr servoWritePtr = NULL; // Function to write value to motors
#if defined(USE_DSHOT) || defined(USE_SERIALSHOT)
#if defined(USE_DSHOT)
static timeUs_t digitalMotorUpdateIntervalUs = 0;
static timeUs_t digitalMotorLastUpdateUs;
#endif
@ -245,8 +243,6 @@ static pwmOutputPort_t * motorConfigPwm(const timerHardware_t *timerHardware, fl
uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType)
{
switch (pwmProtocolType) {
case(PWM_TYPE_DSHOT1200):
return MOTOR_DSHOT1200_HZ;
case(PWM_TYPE_DSHOT600):
return MOTOR_DSHOT600_HZ;
case(PWM_TYPE_DSHOT300):
@ -304,7 +300,7 @@ static uint16_t prepareDshotPacket(const uint16_t value, bool requestTelemetry)
}
#endif
#if defined(USE_DSHOT) || defined(USE_SERIALSHOT)
#if defined(USE_DSHOT)
static void motorConfigDigitalUpdateInterval(uint16_t motorPwmRateHz)
{
digitalMotorUpdateIntervalUs = 1000000 / motorPwmRateHz;
@ -325,14 +321,9 @@ bool isMotorProtocolDshot(void)
return getMotorProtocolProperties(initMotorProtocol)->isDSHOT;
}
bool isMotorProtocolSerialShot(void)
{
return getMotorProtocolProperties(initMotorProtocol)->isSerialShot;
}
bool isMotorProtocolDigital(void)
{
return isMotorProtocolDshot() || isMotorProtocolSerialShot();
return isMotorProtocolDshot();
}
void pwmRequestMotorTelemetry(int motorIndex)
@ -441,16 +432,6 @@ void pwmCompleteMotorUpdate(void) {
}
}
#endif
#ifdef USE_SERIALSHOT
if (isMotorProtocolSerialShot()) {
for (int index = 0; index < motorCount; index++) {
serialshotUpdateMotor(index, motors[index].value);
}
serialshotSendUpdate();
}
#endif
}
#else // digital motor protocol
@ -481,13 +462,11 @@ void pwmMotorPreconfigure(void)
case PWM_TYPE_STANDARD:
case PWM_TYPE_BRUSHED:
case PWM_TYPE_ONESHOT125:
case PWM_TYPE_ONESHOT42:
case PWM_TYPE_MULTISHOT:
motorWritePtr = pwmWriteStandard;
break;
#ifdef USE_DSHOT
case PWM_TYPE_DSHOT1200:
case PWM_TYPE_DSHOT600:
case PWM_TYPE_DSHOT300:
case PWM_TYPE_DSHOT150:
@ -495,15 +474,6 @@ void pwmMotorPreconfigure(void)
motorWritePtr = pwmWriteDigital;
break;
#endif
#ifdef USE_SERIALSHOT
case PWM_TYPE_SERIALSHOT:
// Kick off SerialShot driver initalization
serialshotInitialize();
motorConfigDigitalUpdateInterval(motorConfig()->motorPwmRate);
motorWritePtr = pwmWriteDigital;
break;
#endif
}
}
@ -518,16 +488,11 @@ bool pwmMotorConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, bo
motors[motorIndex].pwmPort = motorConfigPwm(timerHardware, 125e-6f, 125e-6f, motorConfig()->motorPwmRate, enableOutput);
break;
case PWM_TYPE_ONESHOT42:
motors[motorIndex].pwmPort = motorConfigPwm(timerHardware, 42e-6f, 42e-6f, motorConfig()->motorPwmRate, enableOutput);
break;
case PWM_TYPE_MULTISHOT:
motors[motorIndex].pwmPort = motorConfigPwm(timerHardware, 5e-6f, 20e-6f, motorConfig()->motorPwmRate, enableOutput);
break;
#ifdef USE_DSHOT
case PWM_TYPE_DSHOT1200:
case PWM_TYPE_DSHOT600:
case PWM_TYPE_DSHOT300:
case PWM_TYPE_DSHOT150:

11
src/main/fc/config.c
View file

@ -265,9 +265,6 @@ void validateAndFixConfig(void)
case PWM_TYPE_ONESHOT125: // Limited to 3900 Hz
motorConfigMutable()->motorPwmRate = MIN(motorConfig()->motorPwmRate, 3900);
break;
case PWM_TYPE_ONESHOT42: // 2-8 kHz
motorConfigMutable()->motorPwmRate = constrain(motorConfig()->motorPwmRate, 2000, 8000);
break;
case PWM_TYPE_MULTISHOT: // 2-16 kHz
motorConfigMutable()->motorPwmRate = constrain(motorConfig()->motorPwmRate, 2000, 16000);
break;
@ -287,14 +284,6 @@ void validateAndFixConfig(void)
case PWM_TYPE_DSHOT600:
motorConfigMutable()->motorPwmRate = MIN(motorConfig()->motorPwmRate, 16000);
break;
case PWM_TYPE_DSHOT1200:
motorConfigMutable()->motorPwmRate = MIN(motorConfig()->motorPwmRate, 32000);
break;
#endif
#ifdef USE_SERIALSHOT
case PWM_TYPE_SERIALSHOT: // 2-4 kHz
motorConfigMutable()->motorPwmRate = constrain(motorConfig()->motorPwmRate, 2000, 4000);
break;
#endif
}
#endif

2
src/main/fc/settings.yaml
View file

@ -35,7 +35,7 @@ tables:
- name: blackbox_device
values: ["SERIAL", "SPIFLASH", "SDCARD"]
- name: motor_pwm_protocol
values: ["STANDARD", "ONESHOT125", "ONESHOT42", "MULTISHOT", "BRUSHED", "DSHOT150", "DSHOT300", "DSHOT600", "DSHOT1200", "SERIALSHOT"]
values: ["STANDARD", "ONESHOT125", "MULTISHOT", "BRUSHED", "DSHOT150", "DSHOT300", "DSHOT600"]
- name: servo_protocol
values: ["PWM", "SERVO_DRIVER", "SBUS", "SBUS_PWM"]
- name: failsafe_procedure

116
src/main/io/esc_serialshot.c
View file

@ -1,116 +0,0 @@
/*
* This file is part of INAV Project.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this file,
* You can obtain one at http://mozilla.org/MPL/2.0/.
*
* Alternatively, the contents of this file may be used under the terms
* of the GNU General Public License Version 3, as described below:
*
* This file is free software: you may copy, redistribute and/or modify
* it under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or (at your
* option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see http://www.gnu.org/licenses/.
*/
#include <stdbool.h>
#include <stdint.h>
#include <ctype.h>
#include <math.h>
#include "platform.h"
#include "build/build_config.h"
#include "build/debug.h"
#include "common/maths.h"
#include "common/crc.h"
#include "io/serial.h"
#include "io/esc_serialshot.h"
#if defined(USE_SERIALSHOT)
#define SERIALSHOT_UART_BAUD 921600
#define SERIALSHOT_PKT_DEFAULT_HEADER (0x00) // Default header (motors 1-4, regular 4-in-1 ESC)
typedef struct __attribute__((packed)) {
uint8_t hdr; // Header/version marker
uint8_t motorData[6]; // 12 bit per motor
uint8_t crc; // CRC8/DVB-T of hdr & motorData
} serialShortPacket_t;
static serialShortPacket_t txPkt;
static uint16_t motorValues[4];
static serialPort_t * escPort = NULL;
static serialPortConfig_t * portConfig;
bool serialshotInitialize(void)
{
// Avoid double initialization
if (escPort) {
return true;
}
portConfig = findSerialPortConfig(FUNCTION_ESCSERIAL);
if (!portConfig) {
return false;
}
escPort = openSerialPort(portConfig->identifier, FUNCTION_ESCSERIAL, NULL, NULL, SERIALSHOT_UART_BAUD, MODE_RXTX, SERIAL_NOT_INVERTED | SERIAL_UNIDIR);
if (!escPort) {
return false;
}
return true;
}
void serialshotUpdateMotor(int index, uint16_t value)
{
if (index < 0 || index > 3) {
return;
}
motorValues[index] = value;
}
void serialshotSendUpdate(void)
{
// Check if the port is initialized
if (!escPort) {
return;
}
// Skip update if previous one is not yet fully sent
// This helps to avoid buffer overflow and evenyually the data corruption
if (!isSerialTransmitBufferEmpty(escPort)) {
return;
}
txPkt.hdr = SERIALSHOT_PKT_DEFAULT_HEADER;
txPkt.motorData[0] = motorValues[0] & 0x00FF;
txPkt.motorData[1] = motorValues[1] & 0x00FF;
txPkt.motorData[2] = motorValues[2] & 0x00FF;
txPkt.motorData[3] = motorValues[3] & 0x00FF;
txPkt.motorData[4] = (((motorValues[0] & 0xF00) >> 8) << 0) | (((motorValues[1] & 0xF00) >> 8) << 4);
txPkt.motorData[5] = (((motorValues[2] & 0xF00) >> 8) << 0) | (((motorValues[3] & 0xF00) >> 8) << 4);
txPkt.crc = crc8_dvb_s2(0x00, txPkt.hdr);
txPkt.crc = crc8_dvb_s2_update(txPkt.crc, txPkt.motorData, sizeof(txPkt.motorData));
serialWriteBuf(escPort, (const uint8_t *)&txPkt, sizeof(txPkt));
}
#endif

29
src/main/io/esc_serialshot.h
View file

@ -1,29 +0,0 @@
/*
* This file is part of INAV Project.
*
* This Source Code Form is subject to the terms of the Mozilla Public
* License, v. 2.0. If a copy of the MPL was not distributed with this file,
* You can obtain one at http://mozilla.org/MPL/2.0/.
*
* Alternatively, the contents of this file may be used under the terms
* of the GNU General Public License Version 3, as described below:
*
* This file is free software: you may copy, redistribute and/or modify
* it under the terms of the GNU General Public License as published by the
* Free Software Foundation, either version 3 of the License, or (at your
* option) any later version.
*
* This file is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
* Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see http://www.gnu.org/licenses/.
*/
#pragma once
bool serialshotInitialize(void);
void serialshotUpdateMotor(int index, uint16_t value);
void serialshotSendUpdate(void);

1
src/main/target/BETAFPVF722/target.h
View file

@ -163,4 +163,3 @@
// ESC-related features
#define USE_DSHOT
#define USE_ESC_SENSOR
#define USE_SERIALSHOT

1
src/main/target/DALRCF722DUAL/target.h
View file

@ -138,7 +138,6 @@
#define MAX_PWM_OUTPUT_PORTS 6
#define USE_DSHOT
#define USE_SERIALSHOT
#define USE_ESC_SENSOR
#define TARGET_IO_PORTA 0xffff

1
src/main/target/FLYWOOF411/target.h
View file

@ -165,7 +165,6 @@
#define USE_DSHOT
#define USE_ESC_SENSOR
#define USE_SERIALSHOT
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define TARGET_IO_PORTA 0xffff

1
src/main/target/FRSKY_ROVERF7/target.h
View file

@ -150,4 +150,3 @@
#define MAX_PWM_OUTPUT_PORTS 5
#define USE_DSHOT
#define USE_ESC_SENSOR
#define USE_SERIALSHOT

1
src/main/target/HGLRCF722/target.h
View file

@ -175,6 +175,5 @@
#define MAX_PWM_OUTPUT_PORTS 8
#define USE_DSHOT
#define USE_SERIALSHOT
#define USE_ESC_SENSOR

1
src/main/target/KAKUTEF4/target.h
View file

@ -171,7 +171,6 @@
#define TARGET_IO_PORTD (BIT(2))
#define USE_DSHOT
#define USE_SERIALSHOT
#define USE_ESC_SENSOR
#ifdef KAKUTEF4V2

1
src/main/target/KAKUTEF7MINIV3/target.h
View file

@ -160,7 +160,6 @@
#define MAX_PWM_OUTPUT_PORTS 6
#define USE_DSHOT
#define USE_ESC_SENSOR
#define USE_SERIALSHOT
#define USE_RANGEFINDER
#define RANGEFINDER_I2C_BUS BUS_I2C1

1
src/main/target/MAMBAF405US/target.h
View file

@ -191,7 +191,6 @@
// ESC-related features
#define USE_DSHOT
#define USE_SERIALSHOT
#define USE_ESC_SENSOR
#define USE_SERIAL_4WAY_BLHELI_INTERFACE

1
src/main/target/MAMBAF722/target.h
View file

@ -193,7 +193,6 @@
// ESC-related features
#define USE_DSHOT
#define USE_SERIALSHOT
#define USE_ESC_SENSOR
#define USE_SERIAL_4WAY_BLHELI_INTERFACE

1
src/main/target/MATEKF405/target.h
View file

@ -199,7 +199,6 @@
#define USE_DSHOT
#define USE_ESC_SENSOR
#define USE_SERIALSHOT
#define MAX_PWM_OUTPUT_PORTS 6

1
src/main/target/MATEKF411/target.h
View file

@ -160,7 +160,6 @@
#define USE_DSHOT
#define USE_ESC_SENSOR
#define USE_SERIALSHOT
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define TARGET_IO_PORTA 0xffff

1
src/main/target/MATEKF411SE/target.h
View file

@ -163,7 +163,6 @@
#define USE_DSHOT
#define USE_ESC_SENSOR
#define USE_SERIALSHOT
#define USE_SERIAL_4WAY_BLHELI_INTERFACE
#define TARGET_IO_PORTA 0xffff

1
src/main/target/MATEKF722/target.h
View file

@ -157,6 +157,5 @@
#define MAX_PWM_OUTPUT_PORTS 7
#define USE_DSHOT
#define USE_ESC_SENSOR
#define USE_SERIALSHOT
#define BNO055_I2C_BUS BUS_I2C1

1
src/main/target/MATEKF722PX/target.h
View file

@ -170,5 +170,4 @@
#define MAX_PWM_OUTPUT_PORTS 10
#define USE_DSHOT
#define USE_SERIALSHOT
#define USE_ESC_SENSOR

1
src/main/target/MATEKF722SE/target.h
View file

@ -191,7 +191,6 @@
#define MAX_PWM_OUTPUT_PORTS 8
#define USE_DSHOT
#define USE_SERIALSHOT
#define USE_ESC_SENSOR
#define BNO055_I2C_BUS BUS_I2C1

1
src/main/target/MATEKF765/target.h
View file

@ -229,4 +229,3 @@
#define MAX_PWM_OUTPUT_PORTS 16
#define USE_DSHOT
#define USE_ESC_SENSOR
#define USE_SERIALSHOT

1
src/main/target/MATEKH743/target.h
View file

@ -205,5 +205,4 @@
#define MAX_PWM_OUTPUT_PORTS 15
#define USE_DSHOT
#define USE_ESC_SENSOR
#define USE_SERIALSHOT

1
src/main/target/OMNIBUSF7NXT/target.h
View file

@ -169,7 +169,6 @@
#define USE_DSHOT
#define USE_ESC_SENSOR
#define USE_SERIALSHOT
// Number of available PWM outputs
#define MAX_PWM_OUTPUT_PORTS 6

1
src/main/target/REVO/target.h
View file

@ -31,7 +31,6 @@
#define USE_DSHOT
#define USE_ESC_SENSOR
#define USE_SERIALSHOT
// MPU6000 interrupts
#define USE_EXTI

1
src/main/target/RUSH_BLADE_F7/target.h
View file

@ -142,5 +142,4 @@
#define MAX_PWM_OUTPUT_PORTS 10
#define USE_DSHOT
#define USE_SERIALSHOT
#define USE_ESC_SENSOR

1
src/main/target/SKYSTARSF405HD/target.h
View file

@ -161,6 +161,5 @@
#define USE_DSHOT
#define USE_ESC_SENSOR
#define USE_SERIALSHOT
#define MAX_PWM_OUTPUT_PORTS 4

1
src/main/target/ZEEZF7/target.h
View file

@ -231,4 +231,3 @@
#endif
#define USE_DSHOT
#define USE_ESC_SENSOR
#define USE_SERIALSHOT