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dshot: enable up to 16 DShot channels

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For some boards, we can have DShot on 12 to 14 timer channels, so we
need to support up to 16 to have them covered.
This commit is contained in:
Julian Oes
2026-02-03 05:32:28 +13:00
parent 81a8a88db7
commit 53a4a871ef
3 changed files with 44 additions and 53 deletions
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src/drivers/dshot/DShot.cpp
+33 -44
View File
@@ -403,14 +403,18 @@ void DShot::update_motor_commands(int num_outputs)
}
}
uint8_t DShot::esc_armed_mask(uint16_t *outputs, uint8_t num_outputs)
uint16_t DShot::esc_armed_mask(uint16_t *outputs, uint8_t num_outputs)
{
uint8_t mask = 0;
uint16_t mask = 0;
for (uint8_t i = 0; i < num_outputs; i++) {
if (_mixing_output.isMotor(i)) {
if (outputs[i] != DSHOT_DISARM_VALUE) {
mask |= (1 << i);
int motor_index = (int)_mixing_output.outputFunction(i) - (int)OutputFunction::Motor1;
if (motor_index >= 0 && motor_index < esc_status_s::CONNECTED_ESC_MAX) {
mask |= (1 << motor_index);
}
}
}
}
@@ -583,7 +587,7 @@ bool DShot::process_bdshot_telemetry()
esc.motor_index = motor_index;
esc.timestamp = now;
// Error counts are stored in actuator order to match _esc_status.esc[]
// Error counts are stored in actuator order
_bdshot_telem_errors[output_channel] = up_bdshot_num_errors(output_channel);
if (up_bdshot_channel_online(output_channel)) {
@@ -597,8 +601,8 @@ bool DShot::process_bdshot_telemetry()
esc.erpm = erpm * 100;
} else {
// Use previous value (esc_status is in actuator order)
esc.erpm = _esc_status.esc[output_channel].esc_rpm * (_param_mot_pole_count.get() / 2);
// Use previous value (esc_status is indexed by motor_index)
esc.erpm = _esc_status.esc[motor_index].esc_rpm * (_param_mot_pole_count.get() / 2);
}
// Extended DShot Telemetry
@@ -610,21 +614,21 @@ bool DShot::process_bdshot_telemetry()
esc.temperature = value; // BDShot temperature is in C
} else {
esc.temperature = _esc_status.esc[output_channel].esc_temperature; // use previous
esc.temperature = _esc_status.esc[motor_index].esc_temperature; // use previous
}
if (up_bdshot_get_extended_telemetry(output_channel, DSHOT_EDT_VOLTAGE, &value) == PX4_OK) {
esc.voltage = value / 4.f; // BDShot voltage is in 0.25V
} else {
esc.voltage = _esc_status.esc[output_channel].esc_voltage; // use previous
esc.voltage = _esc_status.esc[motor_index].esc_voltage; // use previous
}
if (up_bdshot_get_extended_telemetry(output_channel, DSHOT_EDT_CURRENT, &value) == PX4_OK) {
esc.current = value / 2.f; // BDShot current is in 0.5A
} else {
esc.current = _esc_status.esc[output_channel].esc_current; // use previous
esc.current = _esc_status.esc[motor_index].esc_current; // use previous
}
}
@@ -648,7 +652,7 @@ void DShot::consume_esc_data(const EscData &esc, TelemetrySource source)
int actuator_channel = esc.actuator_channel;
int motor_index = esc.motor_index;
if (!math::isInRange(actuator_channel, 0, esc_status_s::CONNECTED_ESC_MAX - 1) ||
if (!math::isInRange(actuator_channel, 0, DSHOT_MAXIMUM_CHANNELS - 1) ||
!math::isInRange(motor_index, 0, esc_status_s::CONNECTED_ESC_MAX - 1)) {
return;
}
@@ -657,51 +661,42 @@ void DShot::consume_esc_data(const EscData &esc, TelemetrySource source)
bool is_bdshot = _bdshot_motor_mask & (1 << motor_index);
// Require both sources online when enabled (masks are in motor order)
uint8_t online_mask_motor_order = 0xFF;
uint16_t online_mask = (1u << esc_status_s::CONNECTED_ESC_MAX) - 1;
if (is_bdshot) {
online_mask_motor_order &= _bdshot_telem_online_mask;
online_mask &= _bdshot_telem_online_mask;
}
if (_serial_telemetry_enabled) {
online_mask_motor_order &= _serial_telem_online_mask;
online_mask &= _serial_telem_online_mask;
}
// Convert motor-order mask to actuator-order mask for esc_online_flags
uint8_t online_mask_actuator_order = 0;
_esc_status.esc_online_flags = online_mask;
for (int motor_idx = 0; motor_idx < DSHOT_MAXIMUM_CHANNELS; motor_idx++) {
if ((online_mask_motor_order & (1 << motor_idx)) && _motor_to_channel[motor_idx] >= 0) {
online_mask_actuator_order |= (1 << _motor_to_channel[motor_idx]);
}
}
_esc_status.esc_online_flags = online_mask_actuator_order;
// Sum the errors from both interfaces (error arrays are in actuator order)
_esc_status.esc[actuator_channel].esc_errorcount = _serial_telem_errors[actuator_channel] +
// esc_status is indexed by motor_index (Motor1=0, Motor2=1, ...)
_esc_status.esc[motor_index].esc_errorcount = _serial_telem_errors[actuator_channel] +
_bdshot_telem_errors[actuator_channel];
if (source == TelemetrySource::Serial) {
// Only use SerialTelemetry eRPM when BDShot is disabled
if (!is_bdshot) {
_esc_status.esc[actuator_channel].timestamp = esc.timestamp;
_esc_status.esc[actuator_channel].esc_rpm = esc.erpm / (_param_mot_pole_count.get() / 2);
_esc_status.esc[motor_index].timestamp = esc.timestamp;
_esc_status.esc[motor_index].esc_rpm = esc.erpm / (_param_mot_pole_count.get() / 2);
}
_esc_status.esc[actuator_channel].esc_voltage = esc.voltage;
_esc_status.esc[actuator_channel].esc_current = esc.current;
_esc_status.esc[actuator_channel].esc_temperature = esc.temperature;
_esc_status.esc[motor_index].esc_voltage = esc.voltage;
_esc_status.esc[motor_index].esc_current = esc.current;
_esc_status.esc[motor_index].esc_temperature = esc.temperature;
} else if (source == TelemetrySource::BDShot) {
_esc_status.esc[actuator_channel].timestamp = esc.timestamp;
_esc_status.esc[actuator_channel].esc_rpm = esc.erpm / (_param_mot_pole_count.get() / 2);
_esc_status.esc[motor_index].timestamp = esc.timestamp;
_esc_status.esc[motor_index].esc_rpm = esc.erpm / (_param_mot_pole_count.get() / 2);
// Only use BDShot Volt/Curr/Temp when Serial Telemetry is disabled
if (!_serial_telemetry_enabled) {
_esc_status.esc[actuator_channel].esc_voltage = esc.voltage;
_esc_status.esc[actuator_channel].esc_current = esc.current;
_esc_status.esc[actuator_channel].esc_temperature = esc.temperature;
_esc_status.esc[motor_index].esc_voltage = esc.voltage;
_esc_status.esc[motor_index].esc_current = esc.current;
_esc_status.esc[motor_index].esc_temperature = esc.temperature;
}
}
}
@@ -893,21 +888,15 @@ void DShot::mixerChanged()
uint32_t new_output_mask = 0;
uint32_t new_motor_mask = 0;
// Reset motor-to-channel mapping
for (int i = 0; i < DSHOT_MAXIMUM_CHANNELS; i++) {
_motor_to_channel[i] = -1;
}
for (int actuator_channel = 0; actuator_channel < DSHOT_MAXIMUM_CHANNELS; actuator_channel++) {
if (_mixing_output.isMotor(actuator_channel)) {
_esc_status.esc[actuator_channel].actuator_function = (uint8_t)_mixing_output.outputFunction(actuator_channel);
new_output_mask |= (1 << actuator_channel);
int motor_index = (int)_mixing_output.outputFunction(actuator_channel) - (int)OutputFunction::Motor1;
if (motor_index >= 0 && motor_index < DSHOT_MAXIMUM_CHANNELS) {
if (motor_index >= 0 && motor_index < esc_status_s::CONNECTED_ESC_MAX) {
_esc_status.esc[motor_index].actuator_function = (uint8_t)_mixing_output.outputFunction(actuator_channel);
new_motor_mask |= (1 << motor_index);
_motor_to_channel[motor_index] = actuator_channel;
}
}
}
@@ -931,7 +920,7 @@ void DShot::mixerChanged()
if ((new_bdshot_output_mask & (1 << actuator_channel)) && _mixing_output.isMotor(actuator_channel)) {
int motor_index = (int)_mixing_output.outputFunction(actuator_channel) - (int)OutputFunction::Motor1;
if (motor_index >= 0 && motor_index < DSHOT_MAXIMUM_CHANNELS) {
if (motor_index >= 0 && motor_index < esc_status_s::CONNECTED_ESC_MAX) {
new_bdshot_motor_mask |= (1 << motor_index);
}
}
src/drivers/dshot/DShot.h
+7 -5
View File
@@ -36,6 +36,7 @@
#include <lib/mixer_module/mixer_module.hpp>
#include <px4_platform_common/getopt.h>
#include <px4_platform_common/module.h>
#include <uORB/topics/esc_status.h>
#include <uORB/topics/vehicle_command.h>
#include <uORB/topics/vehicle_command_ack.h>
#include <uORB/topics/esc_eeprom_write.h>
@@ -49,6 +50,10 @@ using namespace time_literals;
# error "board_config.h needs to define DIRECT_PWM_OUTPUT_CHANNELS"
#endif
static_assert(DSHOT_MAXIMUM_CHANNELS <= 16, "DShot driver uses uint16_t bitmasks");
static_assert(esc_status_s::CONNECTED_ESC_MAX <= DSHOT_MAXIMUM_CHANNELS,
"esc_status array must not exceed DShot channel count");
static constexpr hrt_abstime ESC_INIT_TELEM_DELAY = 5_s;
/// Dshot PWM frequency (Hz)
@@ -98,7 +103,7 @@ private:
bool initialize_dshot();
void init_telemetry(const char *device, bool swap_rxtx);
uint8_t esc_armed_mask(uint16_t *outputs, uint8_t num_outputs);
uint16_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);
@@ -132,9 +137,6 @@ private:
uint32_t _motor_mask{0};
uint32_t _bdshot_motor_mask{0};
// Motor-to-channel mapping: _motor_to_channel[motor_index] = actuator_channel (-1 if not assigned)
int8_t _motor_to_channel[DSHOT_MAXIMUM_CHANNELS] = {-1, -1, -1, -1, -1, -1, -1, -1};
// uORB
uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
@@ -188,7 +190,7 @@ private:
struct DShotCommand {
uint16_t command{};
int num_repetitions{0};
uint8_t motor_mask{0xff};
uint16_t motor_mask{(1u << DSHOT_MAXIMUM_CHANNELS) - 1};
bool save{false};
bool expect_response{false};
src/drivers/dshot/DShotCommon.h
+4 -4
View File
@@ -34,9 +34,9 @@
#pragma once
#include <drivers/drv_hrt.h>
#include <uORB/topics/esc_status.h>
#include <board_config.h>
static constexpr int DSHOT_MAXIMUM_CHANNELS = esc_status_s::CONNECTED_ESC_MAX;
static constexpr int DSHOT_MAXIMUM_CHANNELS = DIRECT_PWM_OUTPUT_CHANNELS;
enum class TelemetrySource {
Serial = 0,
@@ -44,8 +44,8 @@ enum class TelemetrySource {
};
struct EscData {
int actuator_channel; // Actuator output channel 0-7
int motor_index; // Motors 0-7
int actuator_channel; // Actuator output channel 0..(DSHOT_MAXIMUM_CHANNELS-1)
int motor_index; // Motor index 0..(CONNECTED_ESC_MAX-1)
hrt_abstime timestamp; // Sample time
TelemetrySource source;