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
* fix(fmu-v6c): correct GPIO_VDD_3V3_SENSORS_EN macro name
VDD_3V3_SENSORS_EN() referenced GPIO_VDD_3V3_SENSORS4_EN which
does not exist. The correct macro is GPIO_VDD_3V3_SENSORS_EN.
Fixes#26454
* fix(boards): rename VDD_3V3_SENSORS4_EN to VDD_3V3_SENSORS_EN
These boards have a single sensor power rail that was incorrectly
named SENSORS4_EN (copy-paste from boards with 4 rails). Rename
to SENSORS_EN to match the actual hardware.
Boards with legitimately numbered rails (fmu-v6xrt, x25-evo,
x25-super) are not changed.
* refactor: use parseDefaultArguments
* style: reverted changes to docs (should be auto-generated)
* refactor: use parseDefaultArguments
* style: reverted changes to docs (should be auto-generated)
* heater: add multi-instance support, refactor parameter handling, remove legacy params file
This change introduces multi-instance heater support to allow independent temperature control for multiple IMUs.
Main changes:
- Add support for multiple heater instances
- Refactor parameter handling to use per-instance parameters
- Remove the legacy parameter file and migrate to the updated parameter structure
This improves scalability and makes heater configuration consistent across setups with multiple sensors.
* Refactor heater configuration across multiple boards
- Updated heater GPIO definitions to introduce a new naming convention for better clarity and consistency.
- Replaced `GPIO_HEATER_OUTPUT` with `GPIO_HEATER1_OUTPUT` and adjusted the corresponding output enable macros.
- Changed parameter names from `SENS_TEMP_ID` to `HEATER1_IMU_ID` in various board default configurations to reflect the new heater setup.
- Ensured all affected board configurations are updated to maintain functionality with the new heater definitions.
* heater: fix missing HEATER1_OUTPUT_EN control
* heater: fix more missing HEATER1_OUTPUT_EN control
* heater: tidy config, docs, and instance handling
- Remove unused controller period member and use CONTROLLER_PERIOD_DEFAULT
- Improve HEATER${i}_IMU_ID description and instance-related logging/behavior
- Add a guard when HEATER_NUM exceeds HEATER_MAX_INSTANCES
Note: drop intermediate/reverted change around the 'celsius' spelling.
* heater: refactor constructor to remove unused parameter and add instance name function
- Remove unused ModuleParams argument from Heater constructor
- Add heater_instance_name() helper to provide per-instance work queue task names
- Use instance-specific parameter lookup (HEATER{n}_*) during initialization
Use heater_instance_name() to label each instance (heater_1/2/3) in work queue.
Also drop unused ModuleParams argument from constructor and keep per-instance
parameter handle lookup in initialization.
* format
* board: update GPIO configuration for multiple heater instances, add HEATER_NUM for boards using PX4IO
* heater: update heater control to use HEATER1_OUTPUT_EN when using PX4IO for consistency
* heater: add a TODO for px4io multi-instance
* heater: update missing GPIO_HEATER1_OUTPUT in sky-drones
* heater: fix multiple newlines at EOF (resolve CI check failure)
* heater: switch to PublicationMulti for heater_status and log multi-instance
- Changed _heater_status_pub from Publication to PublicationMulti to support independent per-instance publications without overwriting.
- Updated logged_topics.cpp to use add_optional_topic_multi("heater_status")
This fixes the issue where multiple heater instances were writing to the same heater_status topic, causing data overwriting and incorrect update rates in logs.
---------
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Adds configurable I2C address for PCA9685 PWM driver
Introduces a parameter to set the I2C address for the PCA9685 PWM output driver, enhancing flexibility for hardware variations. Updates documentation and board initialization scripts to support the new configuration and streamline device startup.
* Update src/drivers/pca9685_pwm_out/module.yaml
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
* Update src/drivers/pca9685_pwm_out/module.yaml
---------
Co-authored-by: Copilot <175728472+Copilot@users.noreply.github.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
We should not build and release with the MAVLink development dialect
because messages in development.xml can change at any time and break
things.
Instead we should prototype and test things using specific mavlink-dev
targets.
* Added the board configs for encryption, I had to disable smbus and px4 io in the arkv6x
* Added the key generator script
* Added the decryptor, logs are needed for it though
* Added the log download and modified the decryptor
* Quick fixes & README
* Additional modifications & cleanup
* Tested upd connection
Adjusted the log downloader to handle multiple entry responses from the FC
Edited README
* Reverted IP address change
* Added pycryptodome to the requirements.txt
* fixes for log download and decryption
* Removed old log decryptors and updated README
* Pointed the ark borads to the dummy key updated the README accordingly
* Adjusted the folders in README, removed new lines
* Extended command line arguments for all possibilities for description
* Added MAV_CMD_REQUEST_AUTOPILOT_CAPABILITIES after heartbeat received to make sure log request is answered in all cases
* Update Tools/log_encryption/README.md
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Update Tools/log_encryption/README.md
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Update Tools/log_encryption/README.md
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Update Tools/log_encryption/README.md
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
* Edited README, changed the serial connection logic and updated logdownload, made decryption a bit easier to understand
* Update Tools/log_encryption/README.md
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* Removed new lines
* arkv6x: add individual mags to default.px4board
---------
Co-authored-by: Jacob Dahl <dahl.jakejacob@gmail.com>
Co-authored-by: Alex Klimaj <alex@arkelectron.com>
Co-authored-by: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Co-authored-by: Hamish Willee <hamishwillee@gmail.com>
* Bidirectional DShot
Co-authored-by: Julian Oes <julian@oes.ch>
* f4/f1 support, not supported
* fix f1 build target
* sanity check timer_channel value, fix CCxNP ifdef, debug stuff
* removed debug code, added define for H7 HAVE_GTIM_CCXNP
* round robin sampling for less than 4 DMA
* unlimited esc_status logging
* dshot: fix formatting
* dshot: add define for number of DMA channels to use
This allows individual boards to override the number of DShot channels
and hence avoid round robin capture of the RPM feedback.
* ARK: enable 4 DMA channels for DShot on 6X
* dshot: publish when all channels are updated
This slows down the ESC_STATUS publication in the case of round robin
capture. E.g. for 800 Hz output with one DMA channel, the ESC_STATUS is
now published at 200 Hz.
* dshot: avoid duplicate publications for bidir and telem
Instead of publishing both bidirectional dshot updates as well as
telemetry updates, we now combine the data from both streams, and
publish whenever we get RPM updates, as the latter arrives with higher
rate, e.g. 200 Hz with round robin, or faster otherwise.
When combining the data, we take RPM from bidirectional dshot, and the
rest from telemetry.
When we have only one of the two, either telemetry or bidirectional
dshot, we just publish that one.
* boards: add ark fpv and pi6x BOARD_DMA_NUM_DSHOT_CHANNELS
* dshot: turn off debug build
---------
Co-authored-by: Julian Oes <julian@oes.ch>
Co-authored-by: alexklimaj <alex@arkelectron.com>
Jacob Dahl