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fix names and variables and remove dead code

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This commit is contained in:
Jacob Dahl
2026-01-27 15:39:49 -09:00
parent d1d54178d9
commit 4b3cd1e9a2
4 changed files with 20 additions and 61 deletions
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platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
+12 -51
View File
@@ -107,7 +107,7 @@ typedef struct timer_config_t {
bool initialized; // Timer initialized
bool initialized_channels[4]; // Timer channels initialized (successfully started)
bool bidirectional; // Timer in bidir (inverted) mode
int capture_channel_index; // Timer channel currently being catured in bidirectional mode
int capture_channel; // Timer channel currently being catured in bidirectional mode
uint8_t timer_index; // Timer index. Necessary to have memory for passing pointer to hrt callback
} timer_config_t;
@@ -186,7 +186,7 @@ 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 bdshot
for (unsigned output_channel = 0; output_channel < MAX_TIMER_IO_CHANNELS; output_channel++) {
for (uint8_t 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;
@@ -296,7 +296,7 @@ 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);
PX4_DEBUG("%cDShot initialized OutputChannel %u", timer_configs[timer_index].bidirectional ? "B" : "", output_channel);
PX4_DEBUG("%sDShot initialized OutputChannel %u", timer_configs[timer_index].bidirectional ? "B" : "", output_channel);
}
}
@@ -335,7 +335,7 @@ int up_dshot_init(uint32_t channel_mask, uint32_t bdshot_channel_mask, unsigned
unsigned output_buffer_offset = 0;
for (unsigned timer_index = 0; timer_index < MAX_IO_TIMERS; timer_index++) {
for (uint8_t timer_index = 0; timer_index < MAX_IO_TIMERS; timer_index++) {
if (timer_configs[timer_index].initialized) {
if (io_timers[timer_index].base == 0) { // no more timers configured
break;
@@ -445,7 +445,7 @@ void up_dshot_trigger()
static void select_next_capture_channel(uint8_t timer_index)
{
int current = timer_configs[timer_index].capture_channel_index;
int current = timer_configs[timer_index].capture_channel;
// Try each of the 4 possible channels, starting from current+1
for (int i = 1; i <= 4; i++) {
@@ -455,7 +455,7 @@ static void select_next_capture_channel(uint8_t timer_index)
uint8_t output_channel = output_channel_from_timer_channel(timer_index, next);
if (_bdshot_channel_mask & (1 << output_channel)) {
timer_configs[timer_index].capture_channel_index = next;
timer_configs[timer_index].capture_channel = next;
return;
}
}
@@ -501,9 +501,6 @@ void dma_burst_finished_callback(DMA_HANDLE handle, uint8_t status, void *arg)
up_clean_dcache((uintptr_t) dshot_capture_buffer[timer_index],
(uintptr_t) dshot_capture_buffer[timer_index] + DSHOT_CAPTURE_BUFFER_SIZE(MAX_NUM_CHANNELS_PER_TIMER));
// Unallocate timer channel for currently selected capture_channel
uint8_t capture_channel = timer_configs[timer_index].capture_channel_index;
// Re-initialize all output channels on this timer as CaptureDMA to ensure all lines idle high
for (uint8_t channel = 0; channel < MAX_TIMER_IO_CHANNELS; channel++) {
@@ -523,7 +520,7 @@ void dma_burst_finished_callback(DMA_HANDLE handle, uint8_t status, void *arg)
select_next_capture_channel(timer_index);
// Allocate DMA for currently selected capture_channel
capture_channel = timer_configs[timer_index].capture_channel_index;
uint8_t capture_channel = timer_configs[timer_index].capture_channel;
timer_configs[timer_index].dma_handle = stm32_dmachannel(io_timers[timer_index].dshot.dma_map_ch[capture_channel]);
// If DMA handler is valid, start DMA
@@ -573,7 +570,7 @@ static void capture_complete_callback(void *arg)
// Unallocate the timer as CaptureDMA
io_timer_unallocate_timer(timer_index);
uint8_t capture_channel = timer_configs[timer_index].capture_channel_index;
uint8_t capture_channel = timer_configs[timer_index].capture_channel;
// Disable capture DMA
io_timer_capture_dma_req(timer_index, capture_channel, false);
@@ -849,8 +846,8 @@ void decode_dshot_telemetry(uint32_t payload, struct BDShotTelemetry *packet)
packet->type = DSHOT_EDT_ERPM;
if (period == 65408) {
// Special case for zero motion (e.g., stationary motor)
if (period == 65408 || period == 0) {
// 65408 is a special case for zero motion (e.g., stationary motor)
packet->value = 0;
} else {
@@ -862,7 +859,7 @@ void decode_dshot_telemetry(uint32_t payload, struct BDShotTelemetry *packet)
// bits 1-11 - throttle value (0-47 are reserved for commands, 48-2047 give 2000 steps of throttle resolution)
// bit 12 - dshot telemetry enable/disable
// bits 13-16 - XOR checksum
void dshot_motor_data_set(unsigned channel, uint16_t data, bool telemetry)
void dshot_motor_data_set(uint8_t channel, uint16_t data, bool telemetry)
{
uint8_t timer_index = timer_io_channels[channel].timer_index;
uint8_t timer_channel_index = timer_io_channels[channel].timer_channel - 1;
@@ -922,7 +919,7 @@ int up_bdshot_num_channels_ready(void)
{
int num_ready = 0;
for (unsigned i = 0; i < MAX_TIMER_IO_CHANNELS; ++i) {
for (uint8_t i = 0; i < MAX_TIMER_IO_CHANNELS; ++i) {
if (_bdshot_processed[i]) {
++num_ready;
}
@@ -994,42 +991,6 @@ int up_bdshot_get_extended_telemetry(uint8_t channel, int type, uint8_t *value)
return result;
}
int up_bdshot_get_extended_telemetry_rate(uint8_t channel, int type, int *value)
{
int result = PX4_ERROR;
switch (type) {
case DSHOT_EDT_TEMPERATURE:
if (_bdshot_online[channel]) {
*value = 0;
result = PX4_OK;
}
break;
case DSHOT_EDT_VOLTAGE:
if (_bdshot_online[channel]) {
*value = 0;
result = PX4_OK;
}
break;
case DSHOT_EDT_CURRENT:
if (_bdshot_online[channel]) {
*value = 0;
result = PX4_OK;
}
break;
default:
break;
}
return result;
}
int up_bdshot_channel_online(uint8_t channel)
{
if (channel >= MAX_TIMER_IO_CHANNELS) {
src/drivers/drv_dshot.h
+2 -4
View File
@@ -92,7 +92,7 @@ __EXPORT extern int up_dshot_init(uint32_t channel_mask, uint32_t bdshot_channel
/**
* Set Dshot motor data, used by up_dshot_motor_data_set() and up_dshot_motor_command() (internal method)
*/
__EXPORT extern void dshot_motor_data_set(unsigned channel, uint16_t throttle, bool telemetry);
__EXPORT extern void dshot_motor_data_set(uint8_t channel, uint16_t throttle, bool telemetry);
/**
* Set the current dshot throttle value for a channel (motor).
@@ -101,7 +101,7 @@ __EXPORT extern void dshot_motor_data_set(unsigned channel, uint16_t throttle, b
* @param throttle The output dshot throttle value in [0 = DSHOT_DISARM_VALUE, 1 = DSHOT_MIN_THROTTLE, 1999 = DSHOT_MAX_THROTTLE].
* @param telemetry If true, request telemetry from that motor
*/
static inline void up_dshot_motor_data_set(unsigned channel, uint16_t throttle, bool telemetry)
static inline void up_dshot_motor_data_set(uint8_t channel, uint16_t throttle, bool telemetry)
{
dshot_motor_data_set(channel, throttle + DSHOT_CMD_MIN_THROTTLE, telemetry);
}
@@ -172,8 +172,6 @@ __EXPORT extern int up_bdshot_get_erpm(uint8_t channel, int *erpm);
*/
__EXPORT extern int up_bdshot_get_extended_telemetry(uint8_t channel, int type, uint8_t *value);
__EXPORT extern int up_bdshot_get_extended_telemetry_rate(uint8_t channel, int type, int *value);
/**
* Get bidrectional dshot status for a channel
* @param channel Dshot channel
src/drivers/dshot/DShot.cpp
+5 -5
View File
@@ -408,11 +408,11 @@ void DShot::update_motor_commands(int num_outputs)
}
}
uint8_t DShot::esc_armed_mask(uint16_t *outputs, int num_outputs)
uint8_t DShot::esc_armed_mask(uint16_t *outputs, uint8_t num_outputs)
{
uint8_t mask = 0;
for (int i = 0; i < num_outputs; i++) {
for (uint8_t i = 0; i < num_outputs; i++) {
if (_mixing_output.isMotor(i)) {
if (outputs[i] != DSHOT_DISARM_VALUE) {
mask |= (1 << i);
@@ -562,7 +562,7 @@ bool DShot::process_bdshot_telemetry()
return false;
}
for (unsigned output_channel = 0; output_channel < DSHOT_MAXIMUM_CHANNELS; output_channel++) {
for (uint8_t output_channel = 0; output_channel < DSHOT_MAXIMUM_CHANNELS; output_channel++) {
if (!_mixing_output.isMotor(output_channel)) {
continue;
}
@@ -848,7 +848,7 @@ void DShot::update_params()
_mixing_output.setAllMinValues(dshot_min_value);
// Do not use the minimum parameter for reversible outputs
for (unsigned i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
for (uint8_t i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
if (_mixing_output.reversibleOutputs() & (1 << i)) {
_mixing_output.minValue(i) = DSHOT_MIN_THROTTLE;
}
@@ -951,7 +951,7 @@ bool DShot::initialize_dshot()
}
// Set our mixer to explicitly disable channels we do not control
for (unsigned i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
for (uint8_t i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
if (((1 << i) & _output_mask) == 0) {
_mixing_output.disableFunction(i);
}
src/drivers/dshot/DShot.h
+1 -1
View File
@@ -98,7 +98,7 @@ private:
bool initialize_dshot();
void init_telemetry(const char *device, bool swap_rxtx);
uint8_t esc_armed_mask(uint16_t *outputs, int num_outputs);
uint8_t esc_armed_mask(uint16_t *outputs, uint8_t num_outputs);
void update_motor_outputs(uint16_t *outputs, int num_outputs);
void update_motor_commands(int num_outputs);