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feat(dshot): Extended Telemetry and EEPROM support

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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
2026-03-17 16:38:33 -08:00
committed by GitHub
parent c9ee06ff17
commit f00e46f618
48 changed files with 2997 additions and 1692 deletions
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docs/en/esc/ark_4in1_esc.md
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@@ -51,6 +51,18 @@ Other
- Open source AM32 firmware
- [DIU Blue Framework Listed](https://www.diu.mil/blue-uas/framework)
## PX4 Configuration
The ARK 4IN1 ESC supports DShot 300/600, Bidirectional DShot, and PWM input protocols.
- **Bidirectional DShot**: Select BDShot300 or BDShot600 in the [Actuator Configuration](../config/actuators.md) to enable eRPM telemetry.
- **[Extended DShot Telemetry (EDT)](https://github.com/bird-sanctuary/extended-dshot-telemetry)**: AM32 firmware supports EDT, which provides temperature, voltage, and current through the BDShot signal. Enable with `DSHOT_BIDIR_EDT=1`.
- **AM32 EEPROM Settings**: Set `DSHOT_ESC_TYPE=1` to enable reading and writing ESC firmware settings via a ground station.
See [DShot ESCs](../peripherals/dshot.md) for full setup details.
## See Also
- [ARK 4IN1 ESC CONS](https://docs.arkelectron.com/electronic-speed-controller/ark-4in1-esc) (ARK Docs)
- [DShot and Bidirectional DShot](https://brushlesswhoop.com/dshot-and-bidirectional-dshot/) (brushlesswhoop.com - General DShot reference)
- [Extended DShot Telemetry (EDT) Specification](https://github.com/bird-sanctuary/extended-dshot-telemetry) (bird-sanctuary)