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clean up naming

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This commit is contained in:
Jacob Dahl 2025-12-26 12:35:29 -09:00
parent c6c8cdd78f
commit 3b9ea305f7
4 changed files with 16 additions and 21 deletions
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4
platforms/nuttx/src/px4/nxp/imxrt/dshot/dshot.c
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@ -322,9 +322,9 @@ static int flexio_irq_handler(int irq, void *context, void *arg)
int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool bdshot_enable,
bool enable_extended_dshot_telemetry)
bool edt_enable)
{
(void)enable_extended_dshot_telemetry; // Not implemented
(void)edt_enable; // Not implemented
/* Calculate dshot timings based on dshot_pwm_freq */
dshot_tcmp = 0x2F00 | (((BOARD_FLEXIO_PREQ / (dshot_pwm_freq * 3) / 2) - 1) & 0xFF);

29
platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
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@ -136,9 +136,9 @@ static const uint32_t gcr_decode[32] = {
// ever does occur.
static bool _bdshot_cycle_complete = true;
static bool _bdshot_enabled = false;
static bool _extended_dshot_telem = false;
static uint8_t _bidi_timer_index = 0; // TODO: BDSHOT_TIM param to select timer index?
static uint8_t _bdshot_timer_index = 0; // TODO: BDSHOT_TIM param to select timer index?
static uint32_t _dshot_frequency = 0;
static bool _edt_enabled = false; // Extended DShot Telemetry
// Online flags, set if ESC is reponding with valid BDShot frames
#define BDSHOT_OFFLINE_COUNT 200
@ -190,7 +190,7 @@ static perf_counter_t capture_cycle_perf2 = NULL;
static void init_timer_config(uint32_t channel_mask)
{
// Mark timers in use, channels in use, and timers for bidir dshot
// Mark timers in use, channels in use, and timers for bdshot
for (unsigned output_channel = 0; output_channel < MAX_TIMER_IO_CHANNELS; output_channel++) {
if (channel_mask & (1 << output_channel)) {
uint8_t timer_index = timer_io_channels[output_channel].timer_index;
@ -210,7 +210,7 @@ static void init_timer_config(uint32_t channel_mask)
}
// NOTE: only 1 timer can be used if Bidirectional DShot is enabled
if (_bdshot_enabled && (timer_index != _bidi_timer_index)) {
if (_bdshot_enabled && (timer_index != _bdshot_timer_index)) {
continue;
}
@ -222,7 +222,7 @@ static void init_timer_config(uint32_t channel_mask)
timer_configs[timer_index].enabled_channels[timer_channel_index] = true;
// Mark timer as bidirectional
if (_bdshot_enabled && timer_index == _bidi_timer_index) {
if (_bdshot_enabled && timer_index == _bdshot_timer_index) {
timer_configs[timer_index].bidirectional = true;
}
}
@ -245,7 +245,7 @@ static void init_timers_dma_up(void)
}
// NOTE: only 1 timer can be used if Bidirectional DShot is enabled
if (_bdshot_enabled && (timer_index != _bidi_timer_index)) {
if (_bdshot_enabled && (timer_index != _bdshot_timer_index)) {
continue;
}
@ -311,12 +311,7 @@ static int32_t init_timer_channels(uint8_t timer_index)
timer_configs[timer_index].initialized_channels[timer_channel_index] = true;
channels_init_mask |= (1 << output_channel);
if (timer_configs[timer_index].bidirectional) {
PX4_DEBUG("DShot initialized OutputChannel %u (bidirectional)", output_channel);
} else {
PX4_DEBUG("DShot initialized OutputChannel %u", output_channel);
}
PX4_DEBUG("%cDShot initialized OutputChannel %u", timer_configs[timer_index].bidirectional ? "B" : "", output_channel);
}
}
@ -324,11 +319,11 @@ static int32_t init_timer_channels(uint8_t timer_index)
}
int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool bdshot_enable,
bool enable_extended_dshot_telemetry)
bool edt_enable)
{
_dshot_frequency = dshot_pwm_freq;
_bdshot_enabled = bdshot_enable;
_extended_dshot_telem = enable_extended_dshot_telemetry;
_edt_enabled = edt_enable;
if (_bdshot_enabled) {
PX4_INFO("Bidirectional DShot enabled, only one timer will be used");
@ -849,7 +844,7 @@ uint32_t convert_edge_intervals_to_bitstream(uint8_t channel_index)
void decode_dshot_telemetry(uint32_t payload, struct BDShotTelemetry *packet)
{
// Extended DShot Telemetry
bool edt_enabled = _extended_dshot_telem;
bool edt_enabled = _edt_enabled;
uint32_t mantissa = payload & 0x01FF;
bool is_telemetry = (mantissa & 0x0100) ==
0; // if the msb of the mantissa is zero, then this is an extended telemetry packet
@ -1058,7 +1053,7 @@ void up_bdshot_status(void)
PX4_INFO("BDShot enabled");
}
if (_extended_dshot_telem) {
if (_edt_enabled) {
PX4_INFO("BDShot EDT rates");
for (int i = 0; i < MAX_TIMER_IO_CHANNELS; i++) {
@ -1074,7 +1069,7 @@ void up_bdshot_status(void)
}
}
uint8_t timer_index = _bidi_timer_index;
uint8_t timer_index = _bdshot_timer_index;
for (uint8_t timer_channel_index = 0; timer_channel_index < MAX_NUM_CHANNELS_PER_TIMER; timer_channel_index++) {
bool channel_initialized = timer_configs[timer_index].initialized_channels[timer_channel_index];

2
src/drivers/drv_dshot.h
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@ -88,7 +88,7 @@ struct BDShotTelemetry {
* @return <0 on error, the initialized channels mask.
*/
__EXPORT extern int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool bdshot_enable,
bool enable_extended_dshot_telemetry);
bool edt_enable);
/**
* Set Dshot motor data, used by up_dshot_motor_data_set() and up_dshot_motor_command() (internal method)

2
src/drivers/dshot/DShot.cpp
View File

@ -507,7 +507,7 @@ bool DShot::process_serial_telemetry()
// Consume an empty EscData to zero the data
consume_esc_data(esc, TelemetrySource::Serial);
all_telem_sampled = set_next_telemetry_index();
_serial_telem_delay_until = hrt_absolute_time() + 100_ms;
_serial_telem_delay_until = hrt_absolute_time() + 1_s;
perf_count(_telem_error_perf);
break;
}