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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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feat(dshot): Extended Telemetry and EEPROM support
Overhauls the DShot driver with per-timer BDShot selection, multi-timer
sequential capture, Extended DShot Telemetry (EDT), and AM32 ESC EEPROM
read/write via MAVLink. Expands ESC support from 8 to 12 channels.
BDShot:
- Per-timer BDShot protocol selection via actuator config UI
- Multi-timer sequential burst/capture on any DMA-capable timer
- Adaptive per-channel GCR bitstream decoding
- Per-channel online/offline detection with hysteresis
Extended DShot Telemetry (EDT):
- Temperature, voltage, current from BDShot frames (no serial wire)
- New DSHOT_BIDIR_EDT parameter
- EDT data merged with serial telemetry when both available
AM32 EEPROM:
- Read/write AM32 ESC settings via MAVLink ESC_EEPROM message
- ESCSettingsInterface abstraction for future ESC firmware types
- New DSHOT_ESC_TYPE parameter
Other changes:
- Per-motor pole count params DSHOT_MOT_POL1–12 (replaces MOT_POLE_COUNT)
- EscStatus/EscReport expanded to 12 ESCs with uint16 bitmasks
- Numerous bounds-check, overflow, and concurrency fixes
- Updated DShot documentation
This commit is contained in:
Jacob Dahl
@@ -0,0 +1 @@
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CONFIG_MAVLINK_DIALECT="development"
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@@ -421,9 +421,6 @@
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/* This board provides a DMA pool and APIs */
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#define BOARD_DMA_ALLOC_POOL_SIZE 5120
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/* This board has 4 DMA channels available for bidirectional dshot */
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#define BOARD_DMA_NUM_DSHOT_CHANNELS 4
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/* This board provides the board_on_reset interface */
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#define BOARD_HAS_ON_RESET 1
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@@ -0,0 +1,19 @@
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4001_quad_x
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4050_generic_250
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6001_hexa_x
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12001_octo_cox
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13100_generic_vtol_tiltrotor
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5001_quad_+
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24001_dodeca_cox
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2100_standard_plane
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13000_generic_vtol_standard
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4601_droneblocks_dexi_5
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11001_hexa_cox
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14001_generic_mc_with_tilt
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16001_helicopter
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9001_octo_+
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7001_hexa_+
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3000_generic_wing
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2106_albatross
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13200_generic_vtol_tailsitter
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13030_generic_vtol_quad_tiltrotor
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@@ -0,0 +1 @@
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CONFIG_MAVLINK_DIALECT="development"
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@@ -306,9 +306,6 @@
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/* This board provides a DMA pool and APIs */
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#define BOARD_DMA_ALLOC_POOL_SIZE 5120
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/* This board has 3 DMA channels available for bidirectional dshot */
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#define BOARD_DMA_NUM_DSHOT_CHANNELS 3
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/* This board provides the board_on_reset interface */
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#define BOARD_HAS_ON_RESET 1
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@@ -0,0 +1 @@
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CONFIG_MAVLINK_DIALECT="development"
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@@ -311,9 +311,6 @@
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/* This board provides a DMA pool and APIs */
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#define BOARD_DMA_ALLOC_POOL_SIZE 5120
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/* This board has 4 DMA channels available for bidirectional dshot */
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#define BOARD_DMA_NUM_DSHOT_CHANNELS 4
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/* This board provides the board_on_reset interface */
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#define BOARD_HAS_ON_RESET 1
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@@ -58,11 +58,13 @@
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//#define DMAMAP_USART6_RX DMAMAP_DMA12_USART6RX_0 /* 5 DMA1:71 PX4IO */
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//#define DMAMAP_USART6_TX DMAMAP_DMA12_USART6TX_0 /* 6 DMA1:72 PX4IO */
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// Assigned in timer_config.cpp
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// TODO
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// Timer 4 /* 7 DMA1:32 TIM4UP */
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// Timer 5 /* 8 DMA1:50 TIM5UP */
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// Dynamically assigned in timer_config.cpp for DShot (allocated/freed per cycle):
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// Timer 1 TIM1UP (burst) + TIM1CH1-4 (capture)
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// Timer 2 TIM2UP (burst) + TIM2CH1-4 (capture)
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// Timer 3 TIM3UP (burst) + TIM3CH1-4 (capture)
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// Timer 4 TIM4UP (burst) + TIM4CH1-3 (capture, CH4 has no DMA)
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// Timer 5 TIM5UP (burst) + TIM5CH1-4 (capture)
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// Timer 15 - no TIM15UP DMA, cannot do DShot
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// DMAMUX2 Using at most 8 Channels on DMA2 -------- Assigned
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// V
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@@ -38,18 +38,20 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
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initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
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initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
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initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
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initIOTimer(Timer::Timer15),
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initIOTimer(Timer::Timer3),
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initIOTimer(Timer::Timer2),
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initIOTimer(Timer::Timer15), // Note: Timer15 has no TIM_UP DMA on STM32H7, cannot do DShot
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initIOTimer(Timer::Timer3, DMA{DMA::Index1}),
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initIOTimer(Timer::Timer2, DMA{DMA::Index1}),
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};
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// Note: Timer4 Channel4 has no DMAMUX mapping on STM32H7, so BDShot telemetry capture
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// is not available on that channel. DShot output still works (uses TIM_UP DMA for burst).
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constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
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initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortA, GPIO::Pin8}),
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initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
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initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
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initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
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initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
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initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
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initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}), // no BDShot telemetry readback
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initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
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initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
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initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel1}, {GPIO::PortE, GPIO::Pin5}),
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