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add no_data counter

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This commit is contained in:
Jacob Dahl
2026-01-27 15:39:49 -09:00
parent 74da73e37d
commit 844b5adab2
1 changed files with 14 additions and 3 deletions
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platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
+14 -3
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@@ -177,6 +177,7 @@ static struct hrt_call _cc_call;
// decoding status for each channel
static uint32_t read_ok[MAX_NUM_CHANNELS_PER_TIMER] = {};
static uint32_t read_fail_crc[MAX_NUM_CHANNELS_PER_TIMER] = {};
static uint32_t read_no_data[MAX_NUM_CHANNELS_PER_TIMER] = {};
static perf_counter_t hrt_callback_perf = NULL;
static perf_counter_t capture_cycle_perf = NULL;
@@ -641,9 +642,18 @@ void process_capture_results(uint8_t timer_index, uint8_t channel_index)
checksum = checksum ^ (checksum >> 8);
checksum = checksum ^ (checksum >> NIBBLES_SIZE);
if ((checksum & 0xF) != 0xF) {
++read_fail_crc[output_channel];
bool checksum_failed = (checksum & 0xF) != 0xF;
bool value_zero = value == 0;
if (checksum_failed) {
++read_fail_crc[output_channel];
}
if (value_zero) {
++read_no_data[output_channel];
}
if (checksum_failed || value_zero) {
if (_consecutive_failures[output_channel]++ > BDSHOT_OFFLINE_COUNT) {
_consecutive_failures[output_channel] = BDSHOT_OFFLINE_COUNT;
_consecutive_successes[output_channel] = 0;
@@ -1025,9 +1035,10 @@ void up_bdshot_status(void)
bool channel_initialized = timer_configs[timer_index].initialized_channels[timer_channel_index];
if (channel_initialized) {
PX4_INFO("Timer %u, Channel %u: read %lu, failed CRC %lu",
PX4_INFO("Timer %u, Channel %u: read %lu, nodata %lu, failed CRC %lu",
timer_index, timer_channel_index,
read_ok[timer_channel_index],
read_no_data[timer_index],
read_fail_crc[timer_channel_index]);
}
}