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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
+26
-22
@@ -1,28 +1,32 @@
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uint64 timestamp # time since system start (microseconds)
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uint8 CONNECTED_ESC_MAX = 8 # The number of ESCs supported. Current (Q2/2013) we support 8 ESCs
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uint64 timestamp # [us] Time since system start
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uint8 CONNECTED_ESC_MAX = 12 # The number of ESCs supported (Motor1-Motor12)
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uint8 ESC_CONNECTION_TYPE_PPM = 0 # Traditional PPM ESC
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uint8 ESC_CONNECTION_TYPE_SERIAL = 1 # Serial Bus connected ESC
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uint8 ESC_CONNECTION_TYPE_ONESHOT = 2 # One Shot PPM
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uint8 ESC_CONNECTION_TYPE_I2C = 3 # I2C
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uint8 ESC_CONNECTION_TYPE_CAN = 4 # CAN-Bus
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uint8 ESC_CONNECTION_TYPE_DSHOT = 5 # DShot
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uint8 ESC_CONNECTION_TYPE_PPM = 0 # Traditional PPM ESC
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uint8 ESC_CONNECTION_TYPE_SERIAL = 1 # Serial Bus connected ESC
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uint8 ESC_CONNECTION_TYPE_ONESHOT = 2 # One Shot PPM
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uint8 ESC_CONNECTION_TYPE_I2C = 3 # I2C
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uint8 ESC_CONNECTION_TYPE_CAN = 4 # CAN-Bus
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uint8 ESC_CONNECTION_TYPE_DSHOT = 5 # DShot
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uint16 counter # incremented by the writing thread everytime new data is stored
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uint16 counter # [-] Incremented by the writing thread everytime new data is stored
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uint8 esc_count # number of connected ESCs
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uint8 esc_connectiontype # how ESCs connected to the system
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uint8 esc_count # [-] Number of connected ESCs
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uint8 esc_connectiontype # [@enum ESC_CONNECTION_TYPE] How ESCs connected to the system
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uint8 esc_online_flags # Bitmask indicating which ESC is online/offline
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# esc_online_flags bit 0 : Set to 1 if ESC0 is online
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# esc_online_flags bit 1 : Set to 1 if ESC1 is online
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# esc_online_flags bit 2 : Set to 1 if ESC2 is online
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# esc_online_flags bit 3 : Set to 1 if ESC3 is online
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# esc_online_flags bit 4 : Set to 1 if ESC4 is online
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# esc_online_flags bit 5 : Set to 1 if ESC5 is online
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# esc_online_flags bit 6 : Set to 1 if ESC6 is online
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# esc_online_flags bit 7 : Set to 1 if ESC7 is online
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uint16 esc_online_flags # Bitmask indicating which ESC is online/offline (in motor order)
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# esc_online_flags bit 0 : Set to 1 if Motor1 is online
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# esc_online_flags bit 1 : Set to 1 if Motor2 is online
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# esc_online_flags bit 2 : Set to 1 if Motor3 is online
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# esc_online_flags bit 3 : Set to 1 if Motor4 is online
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# esc_online_flags bit 4 : Set to 1 if Motor5 is online
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# esc_online_flags bit 5 : Set to 1 if Motor6 is online
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# esc_online_flags bit 6 : Set to 1 if Motor7 is online
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# esc_online_flags bit 7 : Set to 1 if Motor8 is online
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# esc_online_flags bit 8 : Set to 1 if Motor9 is online
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# esc_online_flags bit 9 : Set to 1 if Motor10 is online
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# esc_online_flags bit 10: Set to 1 if Motor11 is online
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# esc_online_flags bit 11: Set to 1 if Motor12 is online
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uint8 esc_armed_flags # Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set.
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uint16 esc_armed_flags # [-] Bitmask indicating which ESC is armed (in motor order)
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EscReport[8] esc
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EscReport[12] esc
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