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
* refactor(mixer_module): change MixingOutput to use float outputs
MixingOutput now passes float values to output drivers instead of
uint16_t. This removes the need for the 8192 offset encoding and
allows reversible motors to receive negative values directly.
* fix(mixer_module): fix float safety issues
-EscClient and voxl2_io: replace outputs[i] with fabs(outputs[i]) > 0.fto fix compilation issues
-GZMixingInterface: add explicit double cast to prevent compilation error
-PWMSim: replaced unit16 cast with lroundf given that now motors outputs can be negative and casting a negative float to unit16 is undefinder behaviour
-mixer_module: same fix of PWM (unit126 cast on negative float is undefined behaviour)
* refactor(mixer_module): float rounding suggestions
* fix(pwm_sim): fix inverted disarmed condition
* fix(mixer_module): more float rounding improvements
* fix(mixer_module_tests): use casting method which are now in drivers for rounding tests
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Co-authored-by: Matthias Grob <maetugr@gmail.com>
migrateFWFromRoot held the SD root directory open via opendir/readdir
while performing heavy file I/O (getFileInfo, copyFw, unlink) inside the
loop. Between readdir calls the FAT semaphore is released, allowing
other tasks (e.g. logger) to dirty the shared FAT sector cache. When
the next FAT operation needed a different sector, fat_fscacheflush
would write the dirty data followed by an immediate read — triggering
a write-busy to read transition in the SDMMC WRCOMPLETE path that
kills the SD card on STM32H7.
Split into two phases: first collect .bin filenames with the directory
open, then close it before doing any file I/O. This also fixes a
missing closedir on the mkdir error path and avoids modifying directory
entries (via unlink) while iterating them with readdir.
long is a 32-bit signed integer, which means the maximum it will hold is 0x7FFFFFFF.
strtol is overflowing, resulting in clamping the value to LONG_MAX (or 0x7FFFFFFF) and returns that instead.
Fixes by using strtoul, which corrects the returned value.
Can be tested by building a UAVCAN Node on the tag v1.16.1, flashing and checking the value displayed in dronecan_gui_tool. Screenshot added for convenience.
Add warning message in print_info() to alert users that CAN error counter
values may increase during the function call due to internal counter reading
implementation. Users should not fully trust these counters until the
underlying issue is fixed.
Co-authored-by: ljarvela <lasse.jarvela@iceye.com>
* feat: implement UAVCAN LED control for individual light control and assignment
* uavcan led: nit-picks from review
* uavcan led: reduce maximum number of lights
to avoid unused parameters
* uavcan led: simplify anticolision on check
* uavcan led: correctly map 8-bit RGB to rgb565
* Trim param name character arrays to 17
16 characters + \0 termination
* uavcan led: final nit-picks
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Co-authored-by: Matthias Grob <maetugr@gmail.com>
* update uavcan hardpoint: add ability to use it via mavlink cmd and during mission and removed send_command() dedicated for usage via mavlink console
* uavcan hardpoint: allow gripper ID 0
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Co-authored-by: Andrew Brahim <35986980+dirksavage88@users.noreply.github.com>
* uavcan esc: remove unused includes
* uavcan arming_status: disarm when terminated
To stay consistent with kill.
* uavcan: publish armed during actuator tests to make it possible spinning motors
* msg: GpsDump: increase queue from 8 to 16 and replace instance with device_id
* uavcan: gnss: MovingBaselineData subscriber for RTCM logging for PPK. Add uORB generation tracking to detect data loss on RTCM injection.
* add instance TODO
* uavcan: collect node info and publish every second
* UORB: Add DeviceInformation Message
Format DeviceInformation.msg with standard comment spaces
* SENS: add getter for device_id
* UAVCAN: add publishing of DeviceInformation based on publised message type, and Node Information
* LOG: add deviceInformation
* MSG:BAT: fix comment to be inline with the max_instaces
* UAVCAN: DeviceInformation, incorporated feedback
* UAVCAN: DeviceInformation, incorporated feedback
* UAVCAN: DeviceInformation, Fixed bug with Powermonitor
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Co-authored-by: Beat Küng <beat-kueng@gmx.net>
dshot: fix motor test on CANnode
Also includes fixes for the DShot driver since stop_outputs is removed. The esc info command has been removed because it doesn't work with AM32, can only be used via command line, and complicates the driver
This fixes a number of issues with uavcan ESC control.
- Motor Testing when using a CANnode as a PWM expander now works by allowing the FunctionMotors class to perform prearm control
- The esc.RawCommand message is now always published for configured uavcan ESC outputs. Previously prior to arming the message would be published empty, which causes certain ESCs to enter an error state.
- Useless and redundant code has been removed and small name changes have been applied.
- timestamp was 0 if uavcan::BatteryInfo was received before uavcan::BatteryInfoAux
- scale was not set as unknown (-1) even though it is since it's never updated
- time_remaining was not initialized correctly and could sometimes be 0
unexpectedly which causes the drone to failsafe because there's reportedly no flight time left
The older defines without the L for the APB1 Low domain errored for some
of the timers, such as 6 and 7.
I checked and it turns out the defines with and without L are identical.
Jacob Dahl