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improve dshot status output

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This commit is contained in:
Jacob Dahl
2025-11-24 12:27:45 -09:00
parent bc89140345
commit 9761cb3d6f
1 changed files with 103 additions and 10 deletions
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src/drivers/dshot/DShot.cpp
+103 -10
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@@ -976,28 +976,121 @@ void DShot::init_telemetry(const char *device, bool swap_rxtx)
_telemetry.initSettingsHandlers(esc_type, _output_mask);
}
static void print_spacer()
{
for (int i = 0; i < 64; i++) {
PX4_INFO_RAW("-");
}
PX4_INFO_RAW("\n");
}
int DShot::print_status()
{
_mixing_output.printStatus();
print_spacer();
PX4_INFO("DShot Driver Status");
print_spacer();
perf_print_counter(_cycle_perf);
perf_print_counter(_bdshot_success_perf);
perf_print_counter(_bdshot_error_perf);
// Configuration
PX4_INFO("Configuration:");
PX4_INFO(" Output Mask: 0x%02lx (%d channels)", (unsigned long)_output_mask, count_set_bits(_output_mask));
PX4_INFO(" Bidirectional: %s", _bdshot_telemetry_enabled ? "Enabled" : "Disabled");
PX4_INFO(" Serial Telemetry: %s%s", _serial_telemetry_enabled ? "Enabled" : "Disabled",
_serial_telemetry_enabled ? (strlen(_telemetry_device) ? "" : " (no device)") : "");
perf_print_counter(_telem_success_perf);
perf_print_counter(_telem_error_perf);
perf_print_counter(_telem_timeout_perf);
perf_print_counter(_telem_allsampled_perf);
if (_serial_telemetry_enabled && strlen(_telemetry_device)) {
PX4_INFO(" Device: %s", _telemetry_device);
}
PX4_INFO(" Extended DShot: %s", _bdshot_edt_enabled ? "Enabled" : "Disabled");
const char *esc_type_str = "Unknown";
switch (_param_dshot_esc_type.get()) {
case 1: esc_type_str = "AM32"; break;
default: break;
}
PX4_INFO(" ESC Type: %s (%ld)", esc_type_str, _param_dshot_esc_type.get());
PX4_INFO(" Motor Poles: %ld", _param_mot_pole_count.get());
PX4_INFO(" 3D Mode: %s", _param_dshot_3d_enable.get() ? "Enabled" : "Disabled");
// Telemetry Status
if (_bdshot_telemetry_enabled || _serial_telemetry_enabled) {
print_spacer();
PX4_INFO("Telemetry Status:");
PX4_INFO(" %-6s %-8s %-8s %-12s %-12s", "Motor", "BDShot", "Serial", "BDShot Err", "Serial Err");
for (int i = 0; i < DSHOT_MAXIMUM_CHANNELS; i++) {
if (!(_output_mask & (1 << i))) {
continue;
}
const char *bdshot_status = "-";
const char *serial_status = "-";
if (_bdshot_telemetry_enabled) {
bdshot_status = (_bdshot_telem_online_mask & (1 << i)) ? "Online" : "Offline";
}
if (_serial_telemetry_enabled) {
serial_status = (_serial_telem_online_mask & (1 << i)) ? "Online" : "Offline";
}
PX4_INFO(" %-6d %-8s %-8s %-12lu %-12lu",
i + 1,
bdshot_status,
serial_status,
(unsigned long)_bdshot_telem_errors[i],
(unsigned long)_serial_telem_errors[i]);
}
if (_bdshot_telemetry_enabled && _bdshot_edt_enabled) {
PX4_INFO(" EDT Requested Mask: 0x%02x", _bdshot_edt_requested_mask);
}
if (_serial_telemetry_enabled) {
PX4_INFO(" Settings Requested Mask: 0x%02x", _settings_requested_mask);
}
}
// Bidirectional DShot hardware status
if (_bdshot_telemetry_enabled) {
print_spacer();
PX4_INFO("Bidirectional DShot Hardware:");
up_bdshot_status();
}
// Serial telemetry stats
if (_serial_telemetry_enabled) {
PX4_INFO("telemetry on: %s", _telemetry_device);
print_spacer();
PX4_INFO("Serial Telemetry Stats:");
_telemetry.printStatus();
}
print_spacer();
PX4_INFO("Mixer Information:");
_mixing_output.printStatus();
print_spacer();
PX4_INFO("Performance Counters:");
perf_print_counter(_cycle_perf);
if (_bdshot_telemetry_enabled) {
up_bdshot_status();
perf_print_counter(_bdshot_success_perf);
perf_print_counter(_bdshot_error_perf);
}
if (_serial_telemetry_enabled) {
perf_print_counter(_telem_success_perf);
perf_print_counter(_telem_error_perf);
perf_print_counter(_telem_timeout_perf);
perf_print_counter(_telem_allsampled_perf);
}
print_spacer();
return 0;
}