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cleaned up

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This commit is contained in:
Jacob Dahl
2026-01-27 15:39:49 -09:00
parent 316c0c187a
commit bc89140345
4 changed files with 56 additions and 56 deletions
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msg/versioned/VehicleCommand.msg
+7
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@@ -130,6 +130,13 @@ uint8 VEHICLE_ROI_LOCATION = 3 # Point toward fixed location.
uint8 VEHICLE_ROI_TARGET = 4 # Point toward target.
uint8 VEHICLE_ROI_ENUM_END = 5
uint8 ACTUATOR_CONFIGURATION_NONE = 0 # Do nothing.
uint8 ACTUATOR_CONFIGURATION_BEEP = 1 # Command the actuator to beep now.
uint8 ACTUATOR_CONFIGURATION_3D_MODE_ON = 2 # Permanently set the actuator (ESC) to 3D mode (reversible thrust).
uint8 ACTUATOR_CONFIGURATION_3D_MODE_OFF = 3 # Permanently set the actuator (ESC) to non 3D mode (non-reversible thrust).
uint8 ACTUATOR_CONFIGURATION_SPIN_DIRECTION1 = 4 # Permanently set the actuator (ESC) to spin direction 1 (which can be clockwise or counter-clockwise).
uint8 ACTUATOR_CONFIGURATION_SPIN_DIRECTION2 = 5 # Permanently set the actuator (ESC) to spin direction 2 (opposite of direction 1).
uint8 PARACHUTE_ACTION_DISABLE = 0
uint8 PARACHUTE_ACTION_ENABLE = 1
uint8 PARACHUTE_ACTION_RELEASE = 2
platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c
+3 -1
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@@ -150,7 +150,7 @@ static int _consecutive_successes[MAX_TIMER_IO_CHANNELS] = {};
// Adaptive base interval per channel (ticks per bit)
// Initialized to nominal 21 ticks/bit, then adapted based on measured timing
static float _base_interval[MAX_TIMER_IO_CHANNELS] = {
[0 ... (MAX_TIMER_IO_CHANNELS - 1)] = 21.0f
[0 ...(MAX_TIMER_IO_CHANNELS - 1)] = 21.0f
};
// ePRM data
@@ -813,6 +813,7 @@ uint32_t convert_edge_intervals_to_bitstream(uint8_t channel_index)
// Clamp to valid range (1-4 bits typical in GCR encoding)
if (bits < 1) {
bits = 1;
} else if (bits > 4) {
bits = 4;
}
@@ -836,6 +837,7 @@ uint32_t convert_edge_intervals_to_bitstream(uint8_t channel_index)
// Pad to 21 bits for GCR decoder (which expects exactly 21 bits)
if (shifted < 21) {
value <<= (21 - shifted);
} else if (shifted > 21) {
// Trim excess bits (shouldn't happen often with proper decoding)
value >>= (shifted - 21);
src/drivers/dshot/DShot.cpp
+37 -41
View File
@@ -48,6 +48,9 @@ DShot::DShot() :
// Avoid using the PWM failsafe params
_mixing_output.setAllFailsafeValues(UINT16_MAX);
// Advertise early to ensure we beat uavcan
_esc_status_pub.advertise();
}
DShot::~DShot()
@@ -58,7 +61,6 @@ DShot::~DShot()
perf_free(_cycle_perf);
perf_free(_bdshot_success_perf);
perf_free(_bdshot_error_perf);
perf_free(_bdshot_timeout_perf);
perf_free(_telem_success_perf);
perf_free(_telem_error_perf);
perf_free(_telem_timeout_perf);
@@ -69,6 +71,10 @@ int DShot::init()
{
update_params();
_serial_telemetry_enabled = _param_dshot_tel_cfg.get();
_bdshot_telemetry_enabled = _param_dshot_bidir_en.get();
_bdshot_edt_enabled = _param_dshot_bidir_edt.get();
if (initialize_dshot()) {
ScheduleNow();
return PX4_OK;
@@ -196,7 +202,7 @@ void DShot::select_next_command()
_current_command.clear();
if (_param_dshot_bidir_en.get() && _param_dshot_bidir_edt.get() && needs_edt_request_mask) {
if (_bdshot_telemetry_enabled && _bdshot_edt_enabled && needs_edt_request_mask) {
// EDT Request first
int next_motor_index = 0;
@@ -214,7 +220,7 @@ void DShot::select_next_command()
_bdshot_edt_requested_mask |= (1 << next_motor_index);
PX4_INFO("ESC%d: requesting EDT at time %.2fs", next_motor_index + 1, (double)now / 1000000.);
} else if (_param_dshot_tel_cfg.get() && _param_dshot_esc_type.get() && needs_settings_request_mask) {
} else if (_serial_telemetry_enabled && _bdshot_telemetry_enabled && needs_settings_request_mask) {
// Settings Request next
int next_motor_index = 0;
@@ -293,7 +299,7 @@ void DShot::select_next_command()
// _serial_telem_online_mask &= ~(_am32_eeprom_write.index == 255 ? 255 : (1 << _am32_eeprom_write.index));
_settings_requested_mask &= ~(_am32_eeprom_write.index == 255 ? 255 : (1 << _am32_eeprom_write.index));
_telem_delay_until = hrt_absolute_time() + 100_ms;
_serial_telem_delay_until = hrt_absolute_time() + 100_ms;
}
}
@@ -344,8 +350,8 @@ void DShot::update_motor_outputs(uint16_t outputs[MAX_ACTUATORS], int num_output
bool set_telemetry_bit = false;
if (_telemetry_motor_index == i) {
if (_param_dshot_tel_cfg.get() && _telemetry.telemetryResponseFinished() && _telemetry.commandResponseFinished()) {
if (hrt_absolute_time() > _telem_delay_until) {
if (_serial_telemetry_enabled && _telemetry.telemetryResponseFinished() && _telemetry.commandResponseFinished()) {
if (hrt_absolute_time() > _serial_telem_delay_until) {
set_telemetry_bit = true;
_telemetry.startTelemetryRequest();
}
@@ -431,7 +437,7 @@ uint16_t DShot::calculate_output_value(uint16_t raw, int index)
bool DShot::process_serial_telemetry()
{
if (!_param_dshot_tel_cfg.get()) {
if (!_serial_telemetry_enabled) {
return false;
}
@@ -497,7 +503,7 @@ 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();
_telem_delay_until = hrt_absolute_time() + 100_ms; // TODO: how long do we need to wait?
_serial_telem_delay_until = hrt_absolute_time() + 100_ms;
perf_count(_telem_error_perf);
break;
}
@@ -536,14 +542,14 @@ bool DShot::set_next_telemetry_index()
bool DShot::process_bdshot_telemetry()
{
if (!_param_dshot_bidir_en.get()) {
if (!_bdshot_telemetry_enabled) {
return false;
}
hrt_abstime now = hrt_absolute_time();
// Don't try to process any telem data until after ESCs have been given time to boot
if (now < _telem_delay_until) {
if (now < ESC_INIT_TELEM_DELAY) {
return false;
}
@@ -557,10 +563,6 @@ bool DShot::process_bdshot_telemetry()
continue;
}
// TODO: handle Extended Telemetry -- Volt/Curr/Temp
// We won't want to zero out the EscData, and instead
// use the previously set values.
EscData esc = {};
// NOTE: dshot erpm order is actuator channel order, so we map to motor index here
@@ -588,13 +590,12 @@ bool DShot::process_bdshot_telemetry()
}
// Extended DShot Telemetry
if (_param_dshot_bidir_edt.get()) {
if (_bdshot_edt_enabled) {
uint8_t value = 0;
if (up_bdshot_get_extended_telemetry(output_channel, DSHOT_EDT_TEMPERATURE, &value) == PX4_OK) {
esc.temperature = value; // BDShot temperature is in C
// PX4_INFO("ESC%d: temperature: %f", motor_index, (double)esc.temperature);
} else {
esc.temperature = _esc_status.esc[motor_index].esc_temperature; // use previous
@@ -602,7 +603,6 @@ bool DShot::process_bdshot_telemetry()
if (up_bdshot_get_extended_telemetry(output_channel, DSHOT_EDT_VOLTAGE, &value) == PX4_OK) {
esc.voltage = value * 0.25f; // BDShot voltage is in 0.25V
// PX4_INFO("ESC%d: voltage: %f", motor_index, (double)esc.voltage);
} else {
esc.voltage = _esc_status.esc[motor_index].esc_voltage; // use previous
@@ -610,7 +610,6 @@ bool DShot::process_bdshot_telemetry()
if (up_bdshot_get_extended_telemetry(output_channel, DSHOT_EDT_CURRENT, &value) == PX4_OK) {
esc.current = value * 0.5f; // BDShot current is in 0.5V
// PX4_INFO("ESC%d: current: %f", motor_index, (double)esc.current);
} else {
esc.current = _esc_status.esc[motor_index].esc_current; // use previous
@@ -634,9 +633,6 @@ bool DShot::process_bdshot_telemetry()
void DShot::consume_esc_data(const EscData &esc, TelemetrySource source)
{
bool bdshot_telemetry_enabled = _param_dshot_bidir_en.get();
bool serial_telemetry_enabled = _param_dshot_tel_cfg.get();
if (esc.motor_index >= esc_status_s::CONNECTED_ESC_MAX) {
return;
}
@@ -644,11 +640,11 @@ void DShot::consume_esc_data(const EscData &esc, TelemetrySource source)
// Require both sources online when enabled
uint8_t online_mask = 0xFF;
if (bdshot_telemetry_enabled) {
if (_bdshot_telemetry_enabled) {
online_mask &= _bdshot_telem_online_mask;
}
if (serial_telemetry_enabled) {
if (_serial_telemetry_enabled) {
online_mask &= _serial_telem_online_mask;
}
@@ -660,7 +656,7 @@ void DShot::consume_esc_data(const EscData &esc, TelemetrySource source)
if (source == TelemetrySource::Serial) {
// Only use SerialTelemetry eRPM when BDShot is disabled
if (!bdshot_telemetry_enabled) {
if (!_bdshot_telemetry_enabled) {
_esc_status.esc[esc.motor_index].timestamp = esc.timestamp;
_esc_status.esc[esc.motor_index].esc_rpm = esc.erpm / (_param_mot_pole_count.get() / 2);
}
@@ -674,7 +670,7 @@ void DShot::consume_esc_data(const EscData &esc, TelemetrySource source)
_esc_status.esc[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) {
if (!_serial_telemetry_enabled) {
_esc_status.esc[esc.motor_index].esc_voltage = esc.voltage;
_esc_status.esc[esc.motor_index].esc_current = esc.current;
_esc_status.esc[esc.motor_index].esc_temperature = esc.temperature;
@@ -765,26 +761,26 @@ void DShot::handle_configure_actuator(const vehicle_command_s &command)
switch (type) {
case ACTUATOR_CONFIGURATION_BEEP:
case vehicle_command_s::ACTUATOR_CONFIGURATION_BEEP:
_current_command.command = DSHOT_CMD_BEEP1;
break;
case ACTUATOR_CONFIGURATION_3D_MODE_OFF:
case vehicle_command_s::ACTUATOR_CONFIGURATION_3D_MODE_OFF:
_current_command.command = DSHOT_CMD_3D_MODE_OFF;
_current_command.save = true;
break;
case ACTUATOR_CONFIGURATION_3D_MODE_ON:
case vehicle_command_s::ACTUATOR_CONFIGURATION_3D_MODE_ON:
_current_command.command = DSHOT_CMD_3D_MODE_ON;
_current_command.save = true;
break;
case ACTUATOR_CONFIGURATION_SPIN_DIRECTION1:
case vehicle_command_s::ACTUATOR_CONFIGURATION_SPIN_DIRECTION1:
_current_command.command = DSHOT_CMD_SPIN_DIRECTION_1;
_current_command.save = true;
break;
case ACTUATOR_CONFIGURATION_SPIN_DIRECTION2:
case vehicle_command_s::ACTUATOR_CONFIGURATION_SPIN_DIRECTION2:
_current_command.command = DSHOT_CMD_SPIN_DIRECTION_2;
_current_command.save = true;
break;
@@ -928,7 +924,7 @@ bool DShot::initialize_dshot()
}
}
int ret = up_dshot_init(_output_mask, dshot_frequency, _param_dshot_bidir_en.get(), _param_dshot_bidir_edt.get());
int ret = up_dshot_init(_output_mask, dshot_frequency, _bdshot_telemetry_enabled, _bdshot_edt_enabled);
if (ret < 0) {
PX4_ERR("up_dshot_init failed (%i)", ret);
@@ -965,40 +961,40 @@ void DShot::init_telemetry(const char *device, bool swap_rxtx)
return;
}
if (!_serial_telemetry_enabled) {
PX4_ERR("serial telemetry not enabled");
return;
}
if (_telemetry.init(device, swap_rxtx) != PX4_OK) {
PX4_ERR("telemetry init failed");
return;
}
// Initialize ESC settings handlers based on ESC type
ESCType esc_type = static_cast<ESCType>(_param_dshot_esc_type.get());
_telemetry.initSettingsHandlers(esc_type, _output_mask);
// TODO: enforce uavcan init ordering in some way
// Advertise early to ensure we beat uavcan
_esc_status_pub.advertise();
}
int DShot::print_status()
{
PX4_INFO("Outputs used: 0x%" PRIx32, _output_mask);
_mixing_output.printStatus();
perf_print_counter(_cycle_perf);
perf_print_counter(_bdshot_success_perf);
perf_print_counter(_bdshot_error_perf);
perf_print_counter(_bdshot_timeout_perf);
perf_print_counter(_telem_success_perf);
perf_print_counter(_telem_error_perf);
perf_print_counter(_telem_timeout_perf);
perf_print_counter(_telem_allsampled_perf);
_mixing_output.printStatus();
if (_param_dshot_tel_cfg.get()) {
if (_serial_telemetry_enabled) {
PX4_INFO("telemetry on: %s", _telemetry_device);
_telemetry.printStatus();
}
if (_param_dshot_bidir_en.get()) {
if (_bdshot_telemetry_enabled) {
up_bdshot_status();
}
src/drivers/dshot/DShot.h
+9 -14
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@@ -49,9 +49,9 @@ using namespace time_literals;
# error "board_config.h needs to define DIRECT_PWM_OUTPUT_CHANNELS"
#endif
static constexpr hrt_abstime ESC_INIT_TELEM_WAIT_TIME = 5_s;
static constexpr hrt_abstime ESC_INIT_TELEM_DELAY = 5_s;
/** Dshot PWM frequency, Hz */
/// Dshot PWM frequency (Hz)
static constexpr unsigned int DSHOT150 = 150000u;
static constexpr unsigned int DSHOT300 = 300000u;
static constexpr unsigned int DSHOT600 = 600000u;
@@ -60,14 +60,6 @@ static constexpr uint16_t DSHOT_DISARM_VALUE = 0;
static constexpr uint16_t DSHOT_MIN_THROTTLE = 1;
static constexpr uint16_t DSHOT_MAX_THROTTLE = 1999;
// We do this to avoid bringing in mavlink.h
// #include <mavlink/common/mavlink.h>
#define ACTUATOR_CONFIGURATION_BEEP 1
#define ACTUATOR_CONFIGURATION_3D_MODE_OFF 2
#define ACTUATOR_CONFIGURATION_3D_MODE_ON 3
#define ACTUATOR_CONFIGURATION_SPIN_DIRECTION1 4
#define ACTUATOR_CONFIGURATION_SPIN_DIRECTION2 5
class DShot final : public ModuleBase<DShot>, public OutputModuleInterface
{
public:
@@ -99,7 +91,7 @@ private:
Armed
} _state = State::Disarmed;
/** Disallow copy construction and move assignment. */
// Disallow copy construction and move assignment
DShot(const DShot &) = delete;
DShot operator=(const DShot &) = delete;
@@ -121,7 +113,6 @@ private:
uint16_t calculate_output_value(uint16_t raw, int index);
uint16_t convert_output_to_3d_scaling(uint16_t output);
void Run() override;
void update_params();
@@ -163,13 +154,17 @@ private:
static px4::atomic_bool _request_telemetry_init;
int _telemetry_motor_index = 0;
uint32_t _telemetry_requested_mask = 0;
hrt_abstime _telem_delay_until = ESC_INIT_TELEM_WAIT_TIME;
hrt_abstime _serial_telem_delay_until = ESC_INIT_TELEM_DELAY;
// Parameters we must load only at init
bool _serial_telemetry_enabled = false;
bool _bdshot_telemetry_enabled = false;
bool _bdshot_edt_enabled = false;
// Perf counters
perf_counter_t _cycle_perf{perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")};
perf_counter_t _bdshot_success_perf{perf_alloc(PC_COUNT, MODULE_NAME": bdshot success")};
perf_counter_t _bdshot_error_perf{perf_alloc(PC_COUNT, MODULE_NAME": bdshot error")};
perf_counter_t _bdshot_timeout_perf{perf_alloc(PC_COUNT, MODULE_NAME": bdshot timeout")};
perf_counter_t _telem_success_perf{perf_alloc(PC_COUNT, MODULE_NAME": telem success")};
perf_counter_t _telem_error_perf{perf_alloc(PC_COUNT, MODULE_NAME": telem error")};
perf_counter_t _telem_timeout_perf{perf_alloc(PC_COUNT, MODULE_NAME": telem timeout")};