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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
Download Patch File Download Diff File Expand all files Collapse all files
src/drivers/actuators/vertiq_io/vertiq_telemetry_manager.cpp
-2
View File
@@ -83,7 +83,6 @@ void VertiqTelemetryManager::StartPublishing(uORB::Publication<esc_status_s> *es
_esc_status.esc[i].esc_address = 0;
_esc_status.esc[i].esc_rpm = 0;
_esc_status.esc[i].esc_state = 0;
_esc_status.esc[i].esc_cmdcount = 0;
_esc_status.esc[i].esc_voltage = 0;
_esc_status.esc[i].esc_current = 0;
_esc_status.esc[i].esc_temperature = 0;
@@ -124,7 +123,6 @@ uint16_t VertiqTelemetryManager::UpdateTelemetry()
_esc_status.esc[_current_module_id_target_index].esc_temperature = telem_response.mcu_temp *
0.01; //"If you ask other escs for their temp, they're giving you the micro temp, so go with that"
_esc_status.esc[_current_module_id_target_index].esc_state = 0; //not implemented
_esc_status.esc[_current_module_id_target_index].esc_cmdcount = 0; //not implemented
_esc_status.esc[_current_module_id_target_index].failures = 0; //not implemented
//Update the overall _esc_status timestamp and our counter
src/drivers/actuators/voxl_esc/voxl_esc.cpp
+2 -4
View File
@@ -66,7 +66,6 @@ VoxlEsc::VoxlEsc() :
_esc_status.esc[i].esc_address = 0;
_esc_status.esc[i].esc_rpm = 0;
_esc_status.esc[i].esc_state = 0;
_esc_status.esc[i].esc_cmdcount = 0;
_esc_status.esc[i].esc_voltage = 0;
_esc_status.esc[i].esc_current = 0;
_esc_status.esc[i].esc_temperature = 0;
@@ -526,7 +525,6 @@ int VoxlEsc::parse_response(uint8_t *buf, uint8_t len, bool print_feedback)
_esc_status.esc[id].esc_rpm = fb.rpm;
_esc_status.esc[id].esc_power = fb.power;
_esc_status.esc[id].esc_state = fb.id_state & 0x0F;
_esc_status.esc[id].esc_cmdcount = fb.cmd_counter;
_esc_status.esc[id].esc_voltage = _esc_chans[id].voltage;
_esc_status.esc[id].esc_current = _esc_chans[id].current;
_esc_status.esc[id].failures = 0; //not implemented
@@ -563,11 +561,11 @@ int VoxlEsc::parse_response(uint8_t *buf, uint8_t len, bool print_feedback)
//print ESC status just for debugging
/*
PX4_INFO("[%lld] ID=%d, ADDR %d, STATE=%d, RPM=%5d, PWR=%3d%%, V=%.2fdV, I=%.2fA, T=%+3dC, CNT %d, FAIL %d",
PX4_INFO("[%lld] ID=%d, ADDR %d, STATE=%d, RPM=%5d, PWR=%3d%%, V=%.2fdV, I=%.2fA, T=%+3dC, FAIL %d",
_esc_status.esc[id].timestamp, id, _esc_status.esc[id].esc_address,
_esc_status.esc[id].esc_state, _esc_status.esc[id].esc_rpm, _esc_status.esc[id].esc_power,
(double)_esc_status.esc[id].esc_voltage, (double)_esc_status.esc[id].esc_current, _esc_status.esc[id].esc_temperature,
_esc_status.esc[id].esc_cmdcount, _esc_status.esc[id].failures);
_esc_status.esc[id].failures);
*/
}
}