rc_input: singlewire use push_pull

Previously, if a mag was not required (not index 0 and not used by ekf),
it was not counted in num_enabled_and_valid_calibration.
If a user set SYS_HAS_MAG to e.g. 3, it would then trigger a preflight
failure, even if there were 3 calibrated and enabled mags.

ROMFS/px4fmu_common/init.d/rcS

@@ -123,6 +123,13 @@ else
 		set PARAM_FILE /fs/mtd_params
 	fi
 
+	# Check if /fs/mtd_params is a valid BSON file
+	if ! bsondump docsize /fs/mtd_caldata
+	then
+		echo "New /fs/mtd_caldata size is:"
+		bsondump docsize /fs/mtd_caldata
+	fi
+
 	#
 	# Load parameters.
 	#

Tools/module_config/output_groups_from_timer_config.py

@@ -54,12 +54,21 @@ def extract_timer_from_channel(line, timer_names):
 
     return None
 
+def imxrt_is_dshot(line):
+
+    # NXP FlexPWM format format: initIOPWM(PWM::FlexPWM2),
+    search = re.search('(initIOPWMDshot)', line, re.IGNORECASE)
+    if search:
+        return True
+
+    return False
+
 def get_timer_groups(timer_config_file, verbose=False):
     with open(timer_config_file, 'r') as f:
         timer_config = f.read()
 
     # timers
-    dshot_support = {} # key: timer
+    dshot_support = {str(i): False for i in range(16)}
     timers_start_marker = 'io_timers_t io_timers'
     timers_start = timer_config.find(timers_start_marker)
     if timers_start == -1:
@@ -78,10 +87,9 @@ def get_timer_groups(timer_config_file, verbose=False):
         if timer_type == 'imxrt':
             if verbose: print('imxrt timer found')
             timer_names.append(timer)
+            if imxrt_is_dshot(line):
+                dshot_support[str(len(timers))] = True
             timers.append(str(len(timers)))
-            dshot_support = {str(i): False for i in range(16)}
-            for i in range(8): # First 8 channels support dshot
-                dshot_support[str(i)] = True
         elif timer:
             if verbose: print('found timer def: {:}'.format(timer))
             dshot_support[timer] = 'DMA' in line

boards/hkust/nxt-dual/src/hw_config.h

@@ -97,9 +97,9 @@
 #define INTERFACE_USART_CONFIG         "/dev/ttyS5,57600"
 #define BOOT_DELAY_ADDRESS             0x000001a0
 #define BOARD_TYPE                     1013
-#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
-#define BOARD_FLASH_SECTORS            (15)
-#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
+#define BOARD_FLASH_SECTORS            (14)
+#define BOARD_FLASH_SIZE               (16 * 128 * 1024)
+#define APP_RESERVATION_SIZE 	       (1 * 128 * 1024)
 
 #define OSC_FREQ                       16
 

boards/px4/fmu-v6xrt/nuttx-config/include/board.h

@@ -267,6 +267,10 @@
 
 // This is the ENET_1G interface.
 
+/* Dshot Disambiguation *******************************************************/
+
+#define IOMUX_DSHOT_DEFAULT             (IOMUX_DRIVE_HIGHSTRENGTH | IOMUX_SLEW_FAST)
+
 // Compile time selection
 #if defined(CONFIG_ETH0_PHY_TJA1103)
 #  define BOARD_PHY_ADDR (18)

boards/px4/fmu-v6xrt/nuttx-config/nsh/defconfig

@@ -87,7 +87,6 @@ CONFIG_IMXRT_ENET=y
 CONFIG_IMXRT_FLEXCAN1=y
 CONFIG_IMXRT_FLEXCAN2=y
 CONFIG_IMXRT_FLEXCAN3=y
-CONFIG_IMXRT_FLEXIO1=y
 CONFIG_IMXRT_FLEXSPI2=y
 CONFIG_IMXRT_GPIO13_IRQ=y
 CONFIG_IMXRT_GPIO1_0_15_IRQ=y

boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_static_functions.ld

@@ -6,6 +6,7 @@
 *(.text.board_autoled_on)
 *(.text.clock_timer)
 *(.text.exception_common)
+*(.text.flexio_irq_handler)
 *(.text.hrt_absolute_time)
 *(.text.hrt_call_enter)
 *(.text.hrt_tim_isr)

boards/px4/fmu-v6xrt/src/imxrt_clockconfig.c

@@ -114,7 +114,7 @@ const struct clock_configuration_s g_initial_clkconfig = {
 			.div           = 1,
 			.mux           = ACMP_CLK_ROOT_OSC_RC_48M_DIV2,
 		},
-		.flexio1_clk_root =
+		.flexio1_clk_root = /* 240 / 2 = 120Mhz */
 		{
 			.enable        = 1,
 			.div           = 2,

boards/px4/fmu-v6xrt/src/timer_config.cpp

@@ -91,14 +91,14 @@
 
 
 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule0, GPIO_FLEXIO1_FLEXIO23_1, 23),
-	initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule1, GPIO_FLEXIO1_FLEXIO25_1, 25),
-	initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule2, GPIO_FLEXIO1_FLEXIO27_1, 27),
-	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule0, GPIO_FLEXIO1_FLEXIO06_1, 6),
-	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule1, GPIO_FLEXIO1_FLEXIO08_1, 8),
-	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule2, GPIO_FLEXIO1_FLEXIO10_1, 10),
-	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule3, GPIO_FLEXIO1_FLEXIO19_1, 19),
-	initIOPWMDshot(PWM::FlexPWM3, PWM::Submodule0, GPIO_FLEXIO1_FLEXIO29_1, 29),
+	initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule0),
+	initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule1),
+	initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule2),
+	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule0),
+	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule1),
+	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule2),
+	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule3),
+	initIOPWMDshot(PWM::FlexPWM3, PWM::Submodule0),
 	initIOPWM(PWM::FlexPWM3, PWM::Submodule1),
 	initIOPWM(PWM::FlexPWM3, PWM::Submodule3),
 	initIOPWM(PWM::FlexPWM4, PWM::Submodule0),
@@ -106,14 +106,14 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 };
 
 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
-	/* FMU_CH1  */  initIOTimerChannel(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_23),
-	/* FMU_CH2  */  initIOTimerChannel(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_25),
-	/* FMU_CH3  */  initIOTimerChannel(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_27),
-	/* FMU_CH4  */  initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_06),
-	/* FMU_CH5  */  initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_08),
-	/* FMU_CH6  */  initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_10),
-	/* FMU_CH7  */  initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule3}, IOMUX::Pad::GPIO_EMC_B1_19),
-	/* FMU_CH8  */  initIOTimerChannel(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_29),
+	/* FMU_CH1  */  initIOTimerChannelDshot(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_23, GPIO_FLEXIO1_FLEXIO23_1 | IOMUX_DSHOT_DEFAULT, 23),
+	/* FMU_CH2  */  initIOTimerChannelDshot(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_25, GPIO_FLEXIO1_FLEXIO25_1 | IOMUX_DSHOT_DEFAULT, 25),
+	/* FMU_CH3  */  initIOTimerChannelDshot(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_27, GPIO_FLEXIO1_FLEXIO27_1 | IOMUX_DSHOT_DEFAULT, 27),
+	/* FMU_CH4  */  initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_06, GPIO_FLEXIO1_FLEXIO06_1 | IOMUX_DSHOT_DEFAULT, 6),
+	/* FMU_CH5  */  initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_08, GPIO_FLEXIO1_FLEXIO08_1 | IOMUX_DSHOT_DEFAULT, 8),
+	/* FMU_CH6  */  initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_10, GPIO_FLEXIO1_FLEXIO10_1 | IOMUX_DSHOT_DEFAULT, 10),
+	/* FMU_CH7  */  initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule3}, IOMUX::Pad::GPIO_EMC_B1_19, GPIO_FLEXIO1_FLEXIO19_1 | IOMUX_DSHOT_DEFAULT, 19),
+	/* FMU_CH8  */  initIOTimerChannelDshot(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_29, GPIO_FLEXIO1_FLEXIO29_1 | IOMUX_DSHOT_DEFAULT, 29),
 	/* FMU_CH9  */  initIOTimerChannel(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_31),
 	/* FMU_CH10 */  initIOTimerChannel(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule3}, IOMUX::Pad::GPIO_EMC_B1_21),
 	/* FMU_CH11 */  initIOTimerChannel(io_timers, {PWM::PWM4_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_00),

platforms/common/uORB/ORBSet.hpp

@@ -62,6 +62,11 @@ public:
 	{
 		Node **p;
 
+		// Don't allow duplicates to be inserted
+		if (find(node_name)) {
+			return;
+		}
+
 		if (_top == nullptr) {
 			p = &_top;
 

platforms/nuttx/src/px4/nxp/imxrt/dshot/dshot.c

@@ -33,145 +33,454 @@
  ****************************************************************************/
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/micro_hal.h>
+#include <px4_platform_common/log.h>
 #include <imxrt_flexio.h>
+#include <hardware/imxrt_flexio.h>
+#include <imxrt_periphclks.h>
 #include <px4_arch/dshot.h>
 #include <px4_arch/io_timer.h>
 #include <drivers/drv_dshot.h>
 #include <stdio.h>
+#include "barriers.h"
 
 #include "arm_internal.h"
 
+#define FLEXIO_BASE			IMXRT_FLEXIO1_BASE
+#define FLEXIO_PREQ			120000000
 #define DSHOT_TIMERS			FLEXIO_SHIFTBUFNIS_COUNT
 #define DSHOT_THROTTLE_POSITION		5u
 #define DSHOT_TELEMETRY_POSITION	4u
 #define NIBBLES_SIZE 			4u
 #define DSHOT_NUMBER_OF_NIBBLES		3u
 
+#if defined(IOMUX_PULL_UP_47K)
+#define IOMUX_PULL_UP IOMUX_PULL_UP_47K
+#endif
+
+static const uint32_t gcr_decode[32] = {
+	0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
+	0x0, 0x9, 0xA, 0xB, 0x0, 0xD, 0xE, 0xF,
+	0x0, 0x0, 0x2, 0x3, 0x0, 0x5, 0x6, 0x7,
+	0x0, 0x0, 0x8, 0x1, 0x0, 0x4, 0xC, 0x0
+};
+
+uint32_t erpms[DSHOT_TIMERS];
+
+typedef enum {
+	DSHOT_START = 0,
+	DSHOT_12BIT_FIFO,
+	DSHOT_12BIT_TRANSFERRED,
+	DSHOT_TRANSMIT_COMPLETE,
+	BDSHOT_RECEIVE,
+	BDSHOT_RECEIVE_COMPLETE,
+} dshot_state;
+
 typedef struct dshot_handler_t {
 	bool			init;
 	uint32_t 		data_seg1;
 	uint32_t 		irq_data;
+	dshot_state             state;
+	bool			bdshot;
+	uint32_t                raw_response;
+	uint16_t                erpm;
+	uint32_t		crc_error_cnt;
+	uint32_t		frame_error_cnt;
+	uint32_t		no_response_cnt;
+	uint32_t		last_no_response_cnt;
 } dshot_handler_t;
 
+#define BDSHOT_OFFLINE_COUNT 400 // If there are no responses for 400 setpoints ESC is offline
+
 static dshot_handler_t dshot_inst[DSHOT_TIMERS] = {};
 
-struct flexio_dev_s *flexio_s;
+static uint32_t dshot_tcmp;
+static uint32_t bdshot_tcmp;
+static uint32_t dshot_mask;
+static uint32_t bdshot_recv_mask;
+static uint32_t bdshot_parsed_recv_mask;
+
+static inline uint32_t flexio_getreg32(uint32_t offset)
+{
+	return getreg32(FLEXIO_BASE + offset);
+}
+
+static inline void flexio_modifyreg32(unsigned int offset,
+				      uint32_t clearbits,
+				      uint32_t setbits)
+{
+	modifyreg32(FLEXIO_BASE + offset, clearbits, setbits);
+}
+
+static inline void flexio_putreg32(uint32_t value, uint32_t offset)
+{
+	putreg32(value, FLEXIO_BASE + offset);
+}
+
+static inline void enable_shifter_status_interrupts(uint32_t mask)
+{
+	flexio_modifyreg32(IMXRT_FLEXIO_SHIFTSIEN_OFFSET, 0, mask);
+}
+
+static inline void disable_shifter_status_interrupts(uint32_t mask)
+{
+	flexio_modifyreg32(IMXRT_FLEXIO_SHIFTSIEN_OFFSET, mask, 0);
+}
+
+static inline uint32_t get_shifter_status_flags(void)
+{
+	return flexio_getreg32(IMXRT_FLEXIO_SHIFTSTAT_OFFSET);
+}
+
+static inline void clear_shifter_status_flags(uint32_t mask)
+{
+	flexio_putreg32(mask, IMXRT_FLEXIO_SHIFTSTAT_OFFSET);
+}
+
+static inline void enable_timer_status_interrupts(uint32_t mask)
+{
+	flexio_modifyreg32(IMXRT_FLEXIO_TIMIEN_OFFSET, 0, mask);
+}
+
+static inline void disable_timer_status_interrupts(uint32_t mask)
+{
+	flexio_modifyreg32(IMXRT_FLEXIO_TIMIEN_OFFSET, mask, 0);
+}
+
+static inline uint32_t get_timer_status_flags(void)
+{
+	return flexio_getreg32(IMXRT_FLEXIO_TIMSTAT_OFFSET);
+}
+
+static inline void clear_timer_status_flags(uint32_t mask)
+{
+	flexio_putreg32(mask, IMXRT_FLEXIO_TIMSTAT_OFFSET);
+}
+
+static void flexio_dshot_output(uint32_t channel, uint32_t pin, uint32_t timcmp, bool inverted)
+{
+	/* Disable Shifter */
+	flexio_putreg32(0, IMXRT_FLEXIO_SHIFTCTL0_OFFSET + channel * 0x4);
+
+	/* No start bit, stop bit low */
+	flexio_putreg32(FLEXIO_SHIFTCFG_INSRC(FLEXIO_SHIFTER_INPUT_FROM_PIN) |
+			FLEXIO_SHIFTCFG_PWIDTH(0) |
+			FLEXIO_SHIFTCFG_SSTOP(FLEXIO_SHIFTER_STOP_BIT_LOW) |
+			FLEXIO_SHIFTCFG_SSTART(FLEXIO_SHIFTER_START_BIT_DISABLED_LOAD_DATA_ON_ENABLE),
+			IMXRT_FLEXIO_SHIFTCFG0_OFFSET + channel * 0x4);
+
+	/* Transmit mode, output to FXIO pin, inverted output for bdshot */
+	flexio_putreg32(FLEXIO_SHIFTCTL_TIMSEL(channel) |
+			FLEXIO_SHIFTCTL_TIMPOL(FLEXIO_SHIFTER_TIMER_POLARITY_ON_POSITIVE) |
+			FLEXIO_SHIFTCTL_PINCFG(FLEXIO_PIN_CONFIG_OUTPUT) |
+			FLEXIO_SHIFTCTL_PINSEL(pin) |
+			FLEXIO_SHIFTCTL_PINPOL(inverted) |
+			FLEXIO_SHIFTCTL_SMOD(FLEXIO_SHIFTER_MODE_TRANSMIT),
+			IMXRT_FLEXIO_SHIFTCTL0_OFFSET + channel * 0x4);
+
+	/* Start transmitting on trigger, disable on compare */
+	flexio_putreg32(FLEXIO_TIMCFG_TIMOUT(FLEXIO_TIMER_OUTPUT_ONE_NOT_AFFECTED_BY_RESET) |
+			FLEXIO_TIMCFG_TIMDEC(FLEXIO_TIMER_DEC_SRC_ON_FLEX_IO_CLOCK_SHIFT_TIMER_OUTPUT) |
+			FLEXIO_TIMCFG_TIMRST(FLEXIO_TIMER_RESET_NEVER) |
+			FLEXIO_TIMCFG_TIMDIS(FLEXIO_TIMER_DISABLE_ON_TIMER_COMPARE) |
+			FLEXIO_TIMCFG_TIMENA(FLEXIO_TIMER_ENABLE_ON_TRIGGER_HIGH) |
+			FLEXIO_TIMCFG_TSTOP(FLEXIO_TIMER_STOP_BIT_DISABLED) |
+			FLEXIO_TIMCFG_TSTART(FLEXIO_TIMER_START_BIT_DISABLED),
+			IMXRT_FLEXIO_TIMCFG0_OFFSET + channel * 0x4);
+
+	flexio_putreg32(timcmp, IMXRT_FLEXIO_TIMCMP0_OFFSET + channel * 0x4);
+
+	/* Baud mode, Trigger on shifter write */
+	flexio_putreg32(FLEXIO_TIMCTL_TRGSEL((4 * channel) + 1) |
+			FLEXIO_TIMCTL_TRGPOL(FLEXIO_TIMER_TRIGGER_POLARITY_ACTIVE_LOW) |
+			FLEXIO_TIMCTL_TRGSRC(FLEXIO_TIMER_TRIGGER_SOURCE_INTERNAL) |
+			FLEXIO_TIMCTL_PINCFG(FLEXIO_PIN_CONFIG_OUTPUT_DISABLED) |
+			FLEXIO_TIMCTL_PINSEL(0) |
+			FLEXIO_TIMCTL_PINPOL(FLEXIO_PIN_ACTIVE_LOW) |
+			FLEXIO_TIMCTL_TIMOD(FLEXIO_TIMER_MODE_DUAL8_BIT_BAUD_BIT),
+			IMXRT_FLEXIO_TIMCTL0_OFFSET + channel * 0x4);
+
+}
 
 static int flexio_irq_handler(int irq, void *context, void *arg)
 {
+	uint32_t flags = get_shifter_status_flags();
+	uint32_t channel;
 
-	uint32_t flags = flexio_s->ops->get_shifter_status_flags(flexio_s);
-	uint32_t instance;
+	for (channel = 0; flags && channel < DSHOT_TIMERS; channel++) {
+		if (flags & (1 << channel)) {
+			disable_shifter_status_interrupts(1 << channel);
 
-	for (instance = 0; flags && instance < DSHOT_TIMERS; instance++) {
-		if (flags & (1 << instance)) {
-			flexio_s->ops->disable_shifter_status_interrupts(flexio_s, (1 << instance));
-			flexio_s->ops->disable_timer_status_interrupts(flexio_s, (1 << instance));
+			if (dshot_inst[channel].state == DSHOT_START) {
+				dshot_inst[channel].state = DSHOT_12BIT_FIFO;
+				flexio_putreg32(dshot_inst[channel].irq_data, IMXRT_FLEXIO_SHIFTBUF0_OFFSET + channel * 0x4);
 
-			if (dshot_inst[instance].irq_data != 0) {
-				uint32_t buf_adr = flexio_s->ops->get_shifter_buffer_address(flexio_s, FLEXIO_SHIFTER_BUFFER, instance);
-				putreg32(dshot_inst[instance].irq_data, IMXRT_FLEXIO1_BASE + buf_adr);
-				dshot_inst[instance].irq_data = 0;
+			} else if (dshot_inst[channel].state == BDSHOT_RECEIVE) {
+				dshot_inst[channel].state = BDSHOT_RECEIVE_COMPLETE;
+				dshot_inst[channel].raw_response = flexio_getreg32(IMXRT_FLEXIO_SHIFTBUFBIS0_OFFSET + channel * 0x4);
+
+				bdshot_recv_mask |= (1 << channel);
+
+				if (bdshot_recv_mask == dshot_mask) {
+					// Received telemetry on all channels
+					// Schedule workqueue?
+				}
 			}
 		}
 	}
 
+	flags = get_timer_status_flags();
+
+	for (channel = 0; flags; (channel = (channel + 1) % DSHOT_TIMERS)) {
+		flags = get_timer_status_flags();
+
+		if (flags & (1 << channel)) {
+			clear_timer_status_flags(1 << channel);
+
+			if (dshot_inst[channel].state == DSHOT_12BIT_FIFO) {
+				dshot_inst[channel].state = DSHOT_12BIT_TRANSFERRED;
+
+			} else if (!dshot_inst[channel].bdshot && dshot_inst[channel].state == DSHOT_12BIT_TRANSFERRED) {
+				dshot_inst[channel].state = DSHOT_TRANSMIT_COMPLETE;
+
+			} else if (dshot_inst[channel].bdshot && dshot_inst[channel].state == DSHOT_12BIT_TRANSFERRED) {
+				disable_shifter_status_interrupts(1 << channel);
+				dshot_inst[channel].state = BDSHOT_RECEIVE;
+
+				/* Transmit done, disable timer and reconfigure to receive*/
+				flexio_putreg32(0x0, IMXRT_FLEXIO_TIMCTL0_OFFSET + channel * 0x4);
+
+				/* Input data from pin, no start/stop bit*/
+				flexio_putreg32(FLEXIO_SHIFTCFG_INSRC(FLEXIO_SHIFTER_INPUT_FROM_PIN) |
+						FLEXIO_SHIFTCFG_PWIDTH(0) |
+						FLEXIO_SHIFTCFG_SSTOP(FLEXIO_SHIFTER_STOP_BIT_DISABLE) |
+						FLEXIO_SHIFTCFG_SSTART(FLEXIO_SHIFTER_START_BIT_DISABLED_LOAD_DATA_ON_SHIFT),
+						IMXRT_FLEXIO_SHIFTCFG0_OFFSET + channel * 0x4);
+
+				/* Shifter receive mdoe, on FXIO pin input */
+				flexio_putreg32(FLEXIO_SHIFTCTL_TIMSEL(channel) |
+						FLEXIO_SHIFTCTL_TIMPOL(FLEXIO_SHIFTER_TIMER_POLARITY_ON_POSITIVE) |
+						FLEXIO_SHIFTCTL_PINCFG(FLEXIO_PIN_CONFIG_OUTPUT_DISABLED) |
+						FLEXIO_SHIFTCTL_PINSEL(timer_io_channels[channel].dshot.flexio_pin) |
+						FLEXIO_SHIFTCTL_PINPOL(FLEXIO_PIN_ACTIVE_LOW) |
+						FLEXIO_SHIFTCTL_SMOD(FLEXIO_SHIFTER_MODE_RECEIVE),
+						IMXRT_FLEXIO_SHIFTCTL0_OFFSET + channel * 0x4);
+
+				/* Make sure there no shifter flags high from transmission */
+				clear_shifter_status_flags(1 << channel);
+
+				/* Enable on pin transition, resychronize through reset on rising edge */
+				flexio_putreg32(FLEXIO_TIMCFG_TIMOUT(FLEXIO_TIMER_OUTPUT_ONE_AFFECTED_BY_RESET) |
+						FLEXIO_TIMCFG_TIMDEC(FLEXIO_TIMER_DEC_SRC_ON_FLEX_IO_CLOCK_SHIFT_TIMER_OUTPUT) |
+						FLEXIO_TIMCFG_TIMRST(FLEXIO_TIMER_RESET_ON_TIMER_PIN_RISING_EDGE) |
+						FLEXIO_TIMCFG_TIMDIS(FLEXIO_TIMER_DISABLE_ON_TIMER_COMPARE) |
+						FLEXIO_TIMCFG_TIMENA(FLEXIO_TIMER_ENABLE_ON_TRIGGER_BOTH_EDGE) |
+						FLEXIO_TIMCFG_TSTOP(FLEXIO_TIMER_STOP_BIT_ENABLE_ON_TIMER_DISABLE) |
+						FLEXIO_TIMCFG_TSTART(FLEXIO_TIMER_START_BIT_ENABLED),
+						IMXRT_FLEXIO_TIMCFG0_OFFSET + channel * 0x4);
+
+				/* Enable on pin transition, resychronize through reset on rising edge */
+				flexio_putreg32(bdshot_tcmp, IMXRT_FLEXIO_TIMCMP0_OFFSET + channel * 0x4);
+
+				/* Trigger on FXIO pin transition, Baud mode */
+				flexio_putreg32(FLEXIO_TIMCTL_TRGSEL(2 * timer_io_channels[channel].dshot.flexio_pin) |
+						FLEXIO_TIMCTL_TRGPOL(FLEXIO_TIMER_TRIGGER_POLARITY_ACTIVE_HIGH) |
+						FLEXIO_TIMCTL_TRGSRC(FLEXIO_TIMER_TRIGGER_SOURCE_INTERNAL) |
+						FLEXIO_TIMCTL_PINCFG(FLEXIO_PIN_CONFIG_OUTPUT_DISABLED) |
+						FLEXIO_TIMCTL_PINSEL(0) |
+						FLEXIO_TIMCTL_PINPOL(FLEXIO_PIN_ACTIVE_LOW) |
+						FLEXIO_TIMCTL_TIMOD(FLEXIO_TIMER_MODE_DUAL8_BIT_BAUD_BIT),
+						IMXRT_FLEXIO_TIMCTL0_OFFSET + channel * 0x4);
+
+				/* Enable shifter interrupt for receiving data */
+				enable_shifter_status_interrupts(1 << channel);
+			}
+		}
+
+	}
+
 	return OK;
 }
 
-int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq)
+
+int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bidirectional_dshot)
 {
-	uint32_t timer_compare;
+	/* Calculate dshot timings based on dshot_pwm_freq */
+	dshot_tcmp = 0x2F00 | (((FLEXIO_PREQ / (dshot_pwm_freq * 3) / 2)) & 0xFF);
+	bdshot_tcmp = 0x2900 | (((FLEXIO_PREQ / (dshot_pwm_freq * 5 / 4) / 2) - 1) & 0xFF);
 
-	if (dshot_pwm_freq == 150000) {
-		timer_compare = 0x2F8A;
+	/* Clock FlexIO peripheral */
+	imxrt_clockall_flexio1();
 
-	} else if (dshot_pwm_freq == 300000) {
-		timer_compare = 0x2F45;
+	/* Reset FlexIO peripheral */
+	flexio_modifyreg32(IMXRT_FLEXIO_CTRL_OFFSET, 0,
+			   FLEXIO_CTRL_SWRST_MASK);
+	flexio_putreg32(0, IMXRT_FLEXIO_CTRL_OFFSET);
 
-	} else if (dshot_pwm_freq == 600000) {
-		timer_compare = 0x2F22;
+	/* Initialize FlexIO peripheral */
+	flexio_modifyreg32(IMXRT_FLEXIO_CTRL_OFFSET,
+			   (FLEXIO_CTRL_DOZEN_MASK |
+			    FLEXIO_CTRL_DBGE_MASK |
+			    FLEXIO_CTRL_FASTACC_MASK |
+			    FLEXIO_CTRL_FLEXEN_MASK),
+			   (FLEXIO_CTRL_DBGE(1) |
+			    FLEXIO_CTRL_FASTACC(1) |
+			    FLEXIO_CTRL_FLEXEN(0)));
 
-	} else if (dshot_pwm_freq == 1200000) {
-		timer_compare = 0x2F11;
-
-	} else {
-		// Not supported Dshot frequency
-		return 0;
-	}
-
-	/* Init FlexIO peripheral */
-
-	flexio_s = imxrt_flexio_initialize(1);
+	/* FlexIO IRQ handling */
 	up_enable_irq(IMXRT_IRQ_FLEXIO1);
-	irq_attach(IMXRT_IRQ_FLEXIO1, flexio_irq_handler, flexio_s);
+	irq_attach(IMXRT_IRQ_FLEXIO1, flexio_irq_handler, 0);
+
+	dshot_mask = 0x0;
 
 	for (unsigned channel = 0; (channel_mask != 0) && (channel < DSHOT_TIMERS); channel++) {
 		if (channel_mask & (1 << channel)) {
-			uint8_t timer = timer_io_channels[channel].timer_index;
 
-			if (io_timers[timer].dshot.pinmux == 0) { // board does not configure dshot on this pin
+			if (timer_io_channels[channel].dshot.pinmux == 0) { // board does not configure dshot on this pin
 				continue;
 			}
 
-			imxrt_config_gpio(io_timers[timer].dshot.pinmux);
+			imxrt_config_gpio(timer_io_channels[channel].dshot.pinmux | IOMUX_PULL_UP);
 
-			struct flexio_shifter_config_s shft_cfg;
-			shft_cfg.timer_select = channel;
-			shft_cfg.timer_polarity = FLEXIO_SHIFTER_TIMER_POLARITY_ON_POSITIVE;
-			shft_cfg.pin_config = FLEXIO_PIN_CONFIG_OUTPUT;
-			shft_cfg.pin_select = io_timers[timer].dshot.flexio_pin;
-			shft_cfg.pin_polarity = FLEXIO_PIN_ACTIVE_HIGH;
-			shft_cfg.shifter_mode = FLEXIO_SHIFTER_MODE_TRANSMIT;
-			shft_cfg.parallel_width = 0;
-			shft_cfg.input_source = FLEXIO_SHIFTER_INPUT_FROM_PIN;
-			shft_cfg.shifter_stop = FLEXIO_SHIFTER_STOP_BIT_LOW;
-			shft_cfg.shifter_start = FLEXIO_SHIFTER_START_BIT_DISABLED_LOAD_DATA_ON_ENABLE;
+			dshot_inst[channel].bdshot = enable_bidirectional_dshot;
 
-			flexio_s->ops->set_shifter_config(flexio_s, channel, &shft_cfg);
-
-			struct flexio_timer_config_s tmr_cfg;
-			tmr_cfg.trigger_select = (4 * channel) + 1;
-			tmr_cfg.trigger_polarity = FLEXIO_TIMER_TRIGGER_POLARITY_ACTIVE_LOW;
-			tmr_cfg.trigger_source = FLEXIO_TIMER_TRIGGER_SOURCE_INTERNAL;
-			tmr_cfg.pin_config = FLEXIO_PIN_CONFIG_OUTPUT_DISABLED;
-			tmr_cfg.pin_select = 0;
-			tmr_cfg.pin_polarity = FLEXIO_PIN_ACTIVE_LOW;
-			tmr_cfg.timer_mode = FLEXIO_TIMER_MODE_DUAL8_BIT_BAUD_BIT;
-			tmr_cfg.timer_output = FLEXIO_TIMER_OUTPUT_ONE_NOT_AFFECTED_BY_RESET;
-			tmr_cfg.timer_decrement = FLEXIO_TIMER_DEC_SRC_ON_FLEX_IO_CLOCK_SHIFT_TIMER_OUTPUT;
-			tmr_cfg.timer_reset = FLEXIO_TIMER_RESET_NEVER;
-			tmr_cfg.timer_disable = FLEXIO_TIMER_DISABLE_ON_TIMER_COMPARE;
-			tmr_cfg.timer_enable = FLEXIO_TIMER_ENABLE_ON_TRIGGER_HIGH;
-			tmr_cfg.timer_stop = FLEXIO_TIMER_STOP_BIT_DISABLED;
-			tmr_cfg.timer_start = FLEXIO_TIMER_START_BIT_DISABLED;
-			tmr_cfg.timer_compare = timer_compare;
-			flexio_s->ops->set_timer_config(flexio_s, channel, &tmr_cfg);
+			flexio_dshot_output(channel, timer_io_channels[channel].dshot.flexio_pin, dshot_tcmp, dshot_inst[channel].bdshot);
 
 			dshot_inst[channel].init = true;
+
+			// Mask channel to be active on dshot
+			dshot_mask |= (1 << channel);
 		}
 	}
 
-	flexio_s->ops->enable(flexio_s, true);
+	flexio_modifyreg32(IMXRT_FLEXIO_CTRL_OFFSET, 0,
+			   FLEXIO_CTRL_FLEXEN_MASK);
 
 	return channel_mask;
 }
 
+void up_bdshot_erpm(void)
+{
+	uint32_t value;
+	uint32_t data;
+	uint32_t csum_data;
+	uint8_t exponent;
+	uint16_t period;
+	uint16_t erpm;
+
+	bdshot_parsed_recv_mask = 0;
+
+	// Decode each individual channel
+	for (uint8_t channel = 0; (channel < DSHOT_TIMERS); channel++) {
+		if (bdshot_recv_mask & (1 << channel)) {
+			value = ~dshot_inst[channel].raw_response & 0xFFFFF;
+
+			/* if lowest significant isn't 1 we've got a framing error */
+			if (value & 0x1) {
+				/* Decode RLL */
+				value = (value ^ (value >> 1));
+
+				/* Decode GCR */
+				data = gcr_decode[value & 0x1fU];
+				data |= gcr_decode[(value >> 5U) & 0x1fU] << 4U;
+				data |= gcr_decode[(value >> 10U) & 0x1fU] << 8U;
+				data |= gcr_decode[(value >> 15U) & 0x1fU] << 12U;
+
+				/* Calculate checksum */
+				csum_data = data;
+				csum_data = csum_data ^ (csum_data >> 8U);
+				csum_data = csum_data ^ (csum_data >> NIBBLES_SIZE);
+
+				if ((csum_data & 0xFU) != 0xFU) {
+					dshot_inst[channel].crc_error_cnt++;
+
+				} else {
+					data = (data >> 4) & 0xFFF;
+
+					if (data == 0xFFF) {
+						erpm = 0;
+
+					} else {
+						exponent = ((data >> 9U) & 0x7U); /* 3 bit: exponent */
+						period = (data & 0x1ffU); /* 9 bit: period base */
+						period = period << exponent; /* Period in usec */
+						erpm = ((1000000U * 60U / 100U + period / 2U) / period);
+					}
+
+					dshot_inst[channel].erpm = erpm;
+					bdshot_parsed_recv_mask |= (1 << channel);
+					dshot_inst[channel].last_no_response_cnt = dshot_inst[channel].no_response_cnt;
+				}
+
+			} else {
+				dshot_inst[channel].frame_error_cnt++;
+			}
+		}
+	}
+}
+
+
+
+int up_bdshot_get_erpm(uint8_t channel, int *erpm)
+{
+	if (bdshot_parsed_recv_mask & (1 << channel)) {
+		*erpm = (int)dshot_inst[channel].erpm;
+		return 0;
+	}
+
+	return -1;
+}
+
+int up_bdshot_channel_status(uint8_t channel)
+{
+	if (channel < DSHOT_TIMERS) {
+		return ((dshot_inst[channel].no_response_cnt - dshot_inst[channel].last_no_response_cnt) < BDSHOT_OFFLINE_COUNT);
+	}
+
+	return -1;
+}
+
+void up_bdshot_status(void)
+{
+
+	for (uint8_t channel = 0; (channel < DSHOT_TIMERS); channel++) {
+
+		if (dshot_inst[channel].init) {
+			PX4_INFO("Channel %i %s Last erpm %i value", channel, up_bdshot_channel_status(channel) ? "online" : "offline",
+				 dshot_inst[channel].erpm);
+			PX4_INFO("CRC errors Frame error No response");
+			PX4_INFO("%10lu %11lu %11lu", dshot_inst[channel].crc_error_cnt, dshot_inst[channel].frame_error_cnt,
+				 dshot_inst[channel].no_response_cnt);
+		}
+	}
+}
+
 void up_dshot_trigger(void)
 {
-	uint32_t buf_adr;
+	// Calc data now since we're not event driven
+	if (bdshot_recv_mask != 0x0) {
+		up_bdshot_erpm();
+	}
 
-	for (uint8_t motor_number = 0; (motor_number < DSHOT_TIMERS); motor_number++) {
-		if (dshot_inst[motor_number].init && dshot_inst[motor_number].data_seg1 != 0) {
-			buf_adr = flexio_s->ops->get_shifter_buffer_address(flexio_s, FLEXIO_SHIFTER_BUFFER, motor_number);
-			putreg32(dshot_inst[motor_number].data_seg1, IMXRT_FLEXIO1_BASE + buf_adr);
+	clear_timer_status_flags(0xFF);
+
+	for (uint8_t channel = 0; (channel < DSHOT_TIMERS); channel++) {
+		if (dshot_inst[channel].bdshot && (bdshot_recv_mask & (1 << channel)) == 0) {
+			dshot_inst[channel].no_response_cnt++;
+		}
+
+		if (dshot_inst[channel].init && dshot_inst[channel].data_seg1 != 0) {
+			flexio_putreg32(dshot_inst[channel].data_seg1, IMXRT_FLEXIO_SHIFTBUF0_OFFSET + channel * 0x4);
 		}
 	}
 
-	flexio_s->ops->clear_timer_status_flags(flexio_s, 0xFF);
-	flexio_s->ops->enable_shifter_status_interrupts(flexio_s, 0xFF);
+	bdshot_recv_mask = 0x0;
+
+	clear_timer_status_flags(0xFF);
+	enable_shifter_status_interrupts(0xFF);
+	enable_timer_status_interrupts(0xFF);
 }
 
+/* Expand packet from 16 bits 48 to get T0H and T1H timing */
 uint64_t dshot_expand_data(uint16_t packet)
 {
 	unsigned int mask;
@@ -197,16 +506,22 @@ uint64_t dshot_expand_data(uint16_t packet)
 * bit 	12		- dshot telemetry enable/disable
 * bits 	13-16	- XOR checksum
 **/
-void dshot_motor_data_set(unsigned motor_number, uint16_t throttle, bool telemetry)
+void dshot_motor_data_set(unsigned channel, uint16_t throttle, bool telemetry)
 {
-	if (motor_number < DSHOT_TIMERS && dshot_inst[motor_number].init) {
+	if (channel < DSHOT_TIMERS && dshot_inst[channel].init) {
+		uint16_t csum_data;
 		uint16_t packet = 0;
 		uint16_t checksum = 0;
 
 		packet |= throttle << DSHOT_THROTTLE_POSITION;
 		packet |= ((uint16_t)telemetry & 0x01) << DSHOT_TELEMETRY_POSITION;
 
-		uint16_t csum_data = packet;
+		if (dshot_inst[channel].bdshot) {
+			csum_data = ~packet;
+
+		} else {
+			csum_data = packet;
+		}
 
 		/* XOR checksum calculation */
 		csum_data >>= NIBBLES_SIZE;
@@ -219,8 +534,20 @@ void dshot_motor_data_set(unsigned motor_number, uint16_t throttle, bool telemet
 		packet |= (checksum & 0x0F);
 
 		uint64_t dshot_expanded = dshot_expand_data(packet);
-		dshot_inst[motor_number].data_seg1 = (uint32_t)(dshot_expanded & 0xFFFFFF);
-		dshot_inst[motor_number].irq_data = (uint32_t)(dshot_expanded >> 24);
+
+		dshot_inst[channel].data_seg1 = (uint32_t)(dshot_expanded & 0xFFFFFF);
+		dshot_inst[channel].irq_data = (uint32_t)(dshot_expanded >> 24);
+		dshot_inst[channel].state = DSHOT_START;
+
+		if (dshot_inst[channel].bdshot) {
+
+			flexio_putreg32(0x0, IMXRT_FLEXIO_TIMCTL0_OFFSET + channel * 0x4);
+			disable_shifter_status_interrupts(1 << channel);
+
+			flexio_dshot_output(channel, timer_io_channels[channel].dshot.flexio_pin, dshot_tcmp, dshot_inst[channel].bdshot);
+
+			clear_timer_status_flags(0xFF);
+		}
 	}
 }
 

platforms/nuttx/src/px4/nxp/imxrt/include/px4_arch/io_timer.h

@@ -87,7 +87,6 @@ typedef struct io_timers_t {
 	uint32_t  clock_register;      /* SIM_SCGCn */
 	uint32_t  clock_bit;           /* SIM_SCGCn bit pos */
 	uint32_t  vectorno;            /* IRQ number */
-	dshot_conf_t	dshot;
 } io_timers_t;
 
 typedef struct io_timers_channel_mapping_element_t {
@@ -112,6 +111,7 @@ typedef struct timer_io_channels_t {
 	uint8_t   sub_module;          /* 0 based sub module offset */
 	uint8_t   sub_module_bits;     /* LDOK and CLDOK bits */
 	uint8_t   timer_channel;       /* Unused */
+	dshot_conf_t	dshot;
 } timer_io_channels_t;
 
 #define SM0           0

platforms/nuttx/src/px4/nxp/rt106x/CMakeLists.txt

@@ -36,7 +36,7 @@ add_subdirectory(../imxrt/adc adc)
 add_subdirectory(../imxrt/board_critmon board_critmon)
 add_subdirectory(../imxrt/board_hw_info board_hw_info)
 add_subdirectory(../imxrt/board_reset board_reset)
-#add_subdirectory(../imxrt/dshot dshot)
+add_subdirectory(../imxrt/dshot dshot)
 add_subdirectory(../imxrt/hrt hrt)
 add_subdirectory(../imxrt/led_pwm led_pwm)
 add_subdirectory(../imxrt/io_pins io_pins)

platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/dshot.h

@@ -0,0 +1,36 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#pragma once
+
+
+#include "../../../imxrt/include/px4_arch/dshot.h"

platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/io_timer.h

@@ -41,6 +41,7 @@
 #include <nuttx/irq.h>
 
 #include <drivers/drv_hrt.h>
+#include "dshot.h"
 
 #pragma once
 __BEGIN_DECLS
@@ -110,6 +111,7 @@ typedef struct timer_io_channels_t {
 	uint8_t   sub_module;          /* 0 based sub module offset */
 	uint8_t   sub_module_bits;     /* LDOK and CLDOK bits */
 	uint8_t   timer_channel;       /* Unused */
+	dshot_conf_t dshot;
 } timer_io_channels_t;
 
 #define SM0           0

platforms/nuttx/src/px4/nxp/rt106x/include/px4_arch/io_timer_hw_description.h

@@ -601,6 +601,16 @@ static inline constexpr timer_io_channels_t initIOTimerChannel(const io_timers_t
 	return ret;
 }
 
+static inline constexpr timer_io_channels_t initIOTimerChannelDshot(const io_timers_t io_timers_conf[MAX_IO_TIMERS],
+		PWM::FlexPWMConfig pwm_config, IOMUX::Pad pad, uint32_t dshot_pinmux, uint32_t flexio_pin)
+{
+	timer_io_channels_t ret = initIOTimerChannel(io_timers_conf, pwm_config, pad);
+
+	ret.dshot.pinmux = dshot_pinmux;
+	ret.dshot.flexio_pin = flexio_pin;
+	return ret;
+}
+
 static inline constexpr io_timers_t initIOPWM(PWM::FlexPWM pwm, PWM::FlexPWMSubmodule sub)
 {
 	io_timers_t ret{};
@@ -609,3 +619,14 @@ static inline constexpr io_timers_t initIOPWM(PWM::FlexPWM pwm, PWM::FlexPWMSubm
 	ret.submodle = sub;
 	return ret;
 }
+
+
+
+static inline constexpr io_timers_t initIOPWMDshot(PWM::FlexPWM pwm, PWM::FlexPWMSubmodule sub)
+{
+	io_timers_t ret{};
+
+	ret.base = getFlexPWMBaseRegister(pwm);
+	ret.submodle = sub;
+	return ret;
+}

platforms/nuttx/src/px4/nxp/rt117x/include/px4_arch/io_timer_hw_description.h

@@ -690,6 +690,16 @@ static inline constexpr timer_io_channels_t initIOTimerChannel(const io_timers_t
 	return ret;
 }
 
+static inline constexpr timer_io_channels_t initIOTimerChannelDshot(const io_timers_t io_timers_conf[MAX_IO_TIMERS],
+		PWM::FlexPWMConfig pwm_config, IOMUX::Pad pad, uint32_t dshot_pinmux, uint32_t flexio_pin)
+{
+	timer_io_channels_t ret = initIOTimerChannel(io_timers_conf, pwm_config, pad);
+
+	ret.dshot.pinmux = dshot_pinmux;
+	ret.dshot.flexio_pin = flexio_pin;
+	return ret;
+}
+
 static inline constexpr io_timers_t initIOPWM(PWM::FlexPWM pwm, PWM::FlexPWMSubmodule sub)
 {
 	io_timers_t ret{};
@@ -699,14 +709,13 @@ static inline constexpr io_timers_t initIOPWM(PWM::FlexPWM pwm, PWM::FlexPWMSubm
 	return ret;
 }
 
-static inline constexpr io_timers_t initIOPWMDshot(PWM::FlexPWM pwm, PWM::FlexPWMSubmodule sub, uint32_t pinmux,
-		uint32_t flexio_pin)
+
+
+static inline constexpr io_timers_t initIOPWMDshot(PWM::FlexPWM pwm, PWM::FlexPWMSubmodule sub)
 {
 	io_timers_t ret{};
 
 	ret.base = getFlexPWMBaseRegister(pwm);
 	ret.submodle = sub;
-	ret.dshot.pinmux = pinmux;
-	ret.dshot.flexio_pin = flexio_pin;
 	return ret;
 }

platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c

@@ -82,7 +82,7 @@ static uint8_t dshot_burst_buffer_array[DSHOT_TIMERS * DSHOT_BURST_BUFFER_SIZE(M
 px4_cache_aligned_data() = {};
 static uint32_t *dshot_burst_buffer[DSHOT_TIMERS] = {};
 
-int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq)
+int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bidirectional_dshot)
 {
 	unsigned buffer_offset = 0;
 
@@ -152,6 +152,22 @@ int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq)
 	return ret_val == OK ? channels_init_mask : ret_val;
 }
 
+int up_bdshot_get_erpm(uint8_t channel, int *erpm)
+{
+	// Not implemented
+	return -1;
+}
+
+int up_bdshot_channel_status(uint8_t channel)
+{
+	// Not implemented
+	return -1;
+}
+
+void up_bdshot_status(void)
+{
+}
+
 void up_dshot_trigger(void)
 {
 	for (uint8_t timer = 0; (timer < DSHOT_TIMERS); timer++) {

src/drivers/drv_dshot.h

@@ -91,7 +91,7 @@ typedef enum {
  * @param dshot_pwm_freq	Frequency of DSHOT signal. Usually DSHOT150, DSHOT300, DSHOT600 or DSHOT1200
  * @return <0 on error, the initialized channels mask.
  */
-__EXPORT extern int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq);
+__EXPORT extern int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bidirectional_dshot);
 
 /**
  * Set Dshot motor data, used by up_dshot_motor_data_set() and up_dshot_motor_command() (internal method)
@@ -137,4 +137,28 @@ __EXPORT extern void up_dshot_trigger(void);
  */
 __EXPORT extern int up_dshot_arm(bool armed);
 
+/**
+ * Print bidrectional dshot status
+ */
+__EXPORT extern void up_bdshot_status(void);
+
+
+/**
+ * Get bidrectional dshot erpm for a channel
+ * @param channel	Dshot channel
+ * @param erpm		pointer to write the erpm value
+ * @return <0 on error, OK on succes
+ */
+__EXPORT extern int up_bdshot_get_erpm(uint8_t channel, int *erpm);
+
+
+/**
+ * Get bidrectional dshot status for a channel
+ * @param channel	Dshot channel
+ * @param erpm		pointer to write the erpm value
+ * @return <0 on error / not supported, 0 on offline, 1 on online
+ */
+__EXPORT extern int up_bdshot_channel_status(uint8_t channel);
+
+
 __END_DECLS

src/drivers/dshot/DShot.cpp

@@ -144,7 +144,9 @@ void DShot::enable_dshot_outputs(const bool enabled)
 			}
 		}
 
-		int ret = up_dshot_init(_output_mask, dshot_frequency);
+		_bidirectional_dshot_enabled = _param_bidirectional_enable.get();
+
+		int ret = up_dshot_init(_output_mask, dshot_frequency, _bidirectional_dshot_enabled);
 
 		if (ret < 0) {
 			PX4_ERR("up_dshot_init failed (%i)", ret);
@@ -157,6 +159,7 @@ void DShot::enable_dshot_outputs(const bool enabled)
 		for (unsigned i = 0; i < _num_outputs; ++i) {
 			if (((1 << i) & _output_mask) == 0) {
 				_mixing_output.disableFunction(i);
+
 			}
 		}
 
@@ -167,6 +170,10 @@ void DShot::enable_dshot_outputs(const bool enabled)
 		}
 
 		_outputs_initialized = true;
+
+		if (_bidirectional_dshot_enabled) {
+			init_telemetry(NULL);
+		}
 	}
 
 	if (_outputs_initialized) {
@@ -206,17 +213,20 @@ void DShot::init_telemetry(const char *device)
 
 	_telemetry->esc_status_pub.advertise();
 
-	int ret = _telemetry->handler.init(device);
+	if (device != NULL) {
+		int ret = _telemetry->handler.init(device);
 
-	if (ret != 0) {
-		PX4_ERR("telemetry init failed (%i)", ret);
+		if (ret != 0) {
+			PX4_ERR("telemetry init failed (%i)", ret);
+		}
 	}
 
 	update_telemetry_num_motors();
 }
 
-void DShot::handle_new_telemetry_data(const int telemetry_index, const DShotTelemetry::EscData &data)
+int DShot::handle_new_telemetry_data(const int telemetry_index, const DShotTelemetry::EscData &data)
 {
+	int ret = 0;
 	// fill in new motor data
 	esc_status_s &esc_status = _telemetry->esc_status_pub.get();
 
@@ -239,18 +249,83 @@ void DShot::handle_new_telemetry_data(const int telemetry_index, const DShotTele
 		esc_status.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_DSHOT;
 		esc_status.esc_count = _telemetry->handler.numMotors();
 		++esc_status.counter;
-		// FIXME: mark all ESC's as online, otherwise commander complains even for a single dropout
-		esc_status.esc_online_flags = (1 << esc_status.esc_count) - 1;
-		esc_status.esc_armed_flags = (1 << esc_status.esc_count) - 1;
 
-		_telemetry->esc_status_pub.update();
-
-		// reset esc data (in case a motor times out, so we won't send stale data)
-		memset(&esc_status.esc, 0, sizeof(_telemetry->esc_status_pub.get().esc));
-		esc_status.esc_online_flags = 0;
+		ret = 1; // Indicate we wrapped, so we publish data
 	}
 
 	_telemetry->last_telemetry_index = telemetry_index;
+
+	return ret;
+}
+
+void DShot::publish_esc_status(void)
+{
+	esc_status_s &esc_status = _telemetry->esc_status_pub.get();
+	int telemetry_index = 0;
+
+	// clear data of the esc that are offline
+	for (int index = 0; (index < _telemetry->last_telemetry_index); index++) {
+		if ((esc_status.esc_online_flags & (1 << index)) == 0) {
+			memset(&esc_status.esc[index], 0, sizeof(struct esc_report_s));
+		}
+	}
+
+	// FIXME: mark all UART Telemetry ESC's as online, otherwise commander complains even for a single dropout
+	esc_status.esc_count = _telemetry->handler.numMotors();
+	esc_status.esc_online_flags = (1 << esc_status.esc_count) - 1;
+	esc_status.esc_armed_flags = (1 << esc_status.esc_count) - 1;
+
+	if (_bidirectional_dshot_enabled) {
+		for (unsigned i = 0; i < _num_outputs; i++) {
+			if (_mixing_output.isFunctionSet(i)) {
+				if (up_bdshot_channel_status(i)) {
+					esc_status.esc_online_flags |= 1 << i;
+
+				} else {
+					esc_status.esc_online_flags &= ~(1 << i);
+				}
+
+				++telemetry_index;
+			}
+		}
+	}
+
+	// ESC telem wrap around or bdshot update
+	_telemetry->esc_status_pub.update();
+
+	// reset esc online flags
+	esc_status.esc_online_flags = 0;
+}
+
+int DShot::handle_new_bdshot_erpm(void)
+{
+	int num_erpms = 0;
+	int telemetry_index = 0;
+	int erpm;
+	esc_status_s &esc_status = _telemetry->esc_status_pub.get();
+
+	esc_status.timestamp = hrt_absolute_time();
+	esc_status.counter = _esc_status_counter++;
+	esc_status.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_DSHOT;
+	esc_status.esc_armed_flags = _outputs_on;
+
+	for (unsigned i = 0; i < _num_outputs; i++) {
+		if (_mixing_output.isFunctionSet(i)) {
+			if (up_bdshot_get_erpm(i, &erpm) == 0) {
+				num_erpms++;
+				esc_status.esc_online_flags |= 1 << telemetry_index;
+				esc_status.esc[telemetry_index].timestamp = hrt_absolute_time();
+				esc_status.esc[telemetry_index].esc_rpm = (erpm * 100) / (_param_mot_pole_count.get() / 2);
+				esc_status.esc[telemetry_index].actuator_function = _telemetry->actuator_functions[telemetry_index];
+			}
+
+			++telemetry_index;
+		}
+
+
+	}
+
+	return num_erpms;
 }
 
 int DShot::send_command_thread_safe(const dshot_command_t command, const int num_repetitions, const int motor_index)
@@ -463,6 +538,7 @@ void DShot::Run()
 
 	if (_telemetry) {
 		int telem_update = _telemetry->handler.update();
+		int need_to_publish = 0;
 
 		// Are we waiting for ESC info?
 		if (_waiting_for_esc_info) {
@@ -472,10 +548,21 @@ void DShot::Run()
 			}
 
 		} else if (telem_update >= 0) {
-			handle_new_telemetry_data(telem_update, _telemetry->handler.latestESCData());
+			need_to_publish = handle_new_telemetry_data(telem_update, _telemetry->handler.latestESCData());
+		}
+
+		if (_bidirectional_dshot_enabled) {
+			// Add bdshot data to esc status
+			need_to_publish += handle_new_bdshot_erpm();
+		}
+
+		if (need_to_publish > 0) {
+			// ESC telem wrap around or bdshot update
+			publish_esc_status();
 		}
 	}
 
+
 	if (_parameter_update_sub.updated()) {
 		update_params();
 	}
@@ -713,6 +800,11 @@ int DShot::print_status()
 		_telemetry->handler.printStatus();
 	}
 
+	/* Print dshot status */
+	if (_bidirectional_dshot_enabled) {
+		up_bdshot_status();
+	}
+
 	return 0;
 }
 

src/drivers/dshot/DShot.h

@@ -131,7 +131,11 @@ private:
 
 	void init_telemetry(const char *device);
 
-	void handle_new_telemetry_data(const int telemetry_index, const DShotTelemetry::EscData &data);
+	int handle_new_telemetry_data(const int telemetry_index, const DShotTelemetry::EscData &data);
+
+	void publish_esc_status(void);
+
+	int handle_new_bdshot_erpm(void);
 
 	int request_esc_info();
 
@@ -158,6 +162,7 @@ private:
 	bool _outputs_initialized{false};
 	bool _outputs_on{false};
 	bool _waiting_for_esc_info{false};
+	bool _bidirectional_dshot_enabled{false};
 
 	static constexpr unsigned _num_outputs{DIRECT_PWM_OUTPUT_CHANNELS};
 	uint32_t _output_mask{0};
@@ -169,12 +174,14 @@ private:
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 	uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
 	uORB::Publication<vehicle_command_ack_s> _command_ack_pub{ORB_ID(vehicle_command_ack)};
+	uint16_t _esc_status_counter{0};
 
 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::DSHOT_MIN>)    _param_dshot_min,
 		(ParamBool<px4::params::DSHOT_3D_ENABLE>) _param_dshot_3d_enable,
 		(ParamInt<px4::params::DSHOT_3D_DEAD_H>) _param_dshot_3d_dead_h,
 		(ParamInt<px4::params::DSHOT_3D_DEAD_L>) _param_dshot_3d_dead_l,
-		(ParamInt<px4::params::MOT_POLE_COUNT>) _param_mot_pole_count
+		(ParamInt<px4::params::MOT_POLE_COUNT>) _param_mot_pole_count,
+		(ParamBool<px4::params::DSHOT_BIDIR_EN>) _param_bidirectional_enable
 	)
 };

src/drivers/dshot/DShotTelemetry.cpp

@@ -183,6 +183,9 @@ bool DShotTelemetry::decodeByte(uint8_t byte, bool &successful_decoding)
 				  _latest_data.erpm);
 			++_num_successful_responses;
 			successful_decoding = true;
+
+		} else {
+			++_num_checksum_errors;
 		}
 
 		return true;
@@ -195,6 +198,7 @@ void DShotTelemetry::printStatus() const
 {
 	PX4_INFO("Number of successful ESC frames: %i", _num_successful_responses);
 	PX4_INFO("Number of timeouts: %i", _num_timeouts);
+	PX4_INFO("Number of CRC errors: %i", _num_checksum_errors);
 }
 
 uint8_t DShotTelemetry::updateCrc8(uint8_t crc, uint8_t crc_seed)

src/drivers/dshot/DShotTelemetry.h

@@ -140,4 +140,5 @@ private:
 	// statistics
 	int _num_timeouts{0};
 	int _num_successful_responses{0};
+	int _num_checksum_errors{0};
 };

src/drivers/dshot/module.yaml

@@ -33,6 +33,16 @@ parameters:
                     When mixer outputs 1000 or value inside DSHOT 3D deadband, DShot 0 is sent.
             type: boolean
             default: 0
+        DSHOT_BIDIR_EN:
+            description:
+                short: Enable bidirectional DShot
+                long: |
+                    This parameter enables bidirectional DShot which provides RPM feedback.
+                    Note that this requires ESCs that support bidirectional DSHot, e.g. BlHeli32.
+                    This is not the same as DShot telemetry which requires an additional serial connection.
+            type: boolean
+            default: 0
+            reboot_required: true
         DSHOT_3D_DEAD_H:
             description:
                 short: DSHOT 3D deadband high

src/drivers/rc_input/RCInput.cpp

@@ -314,7 +314,7 @@ void  RCInput::swap_rx_tx()
 #  ifdef TIOCSSINGLEWIRE
 
 	if (rv != OK) {
-		ioctl(_rcs_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
+		ioctl(_rcs_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED | SER_SINGLEWIRE_PUSHPULL);
 	}
 
 #  else

src/modules/commander/HealthAndArmingChecks/checks/magnetometerCheck.cpp

@@ -50,10 +50,6 @@ void MagnetometerChecks::checkAndReport(const Context &context, Report &reporter
 		bool is_mag_fault = false;
 		const bool is_required = instance == 0 || isMagRequired(instance, is_mag_fault);
 
-		if (!is_required) {
-			continue;
-		}
-
 		const bool exists = _sensor_mag_sub[instance].advertised();
 		bool is_valid = false;
 		bool is_calibration_valid = false;
@@ -83,6 +79,11 @@ void MagnetometerChecks::checkAndReport(const Context &context, Report &reporter
 			reporter.setIsPresent(health_component_t::magnetometer);
 		}
 
+		// Do not raise errors if a mag is not required
+		if (!is_required) {
+			continue;
+		}
+
 		const bool is_sensor_ok = is_valid && is_calibration_valid && !is_mag_fault;
 
 		if (!is_sensor_ok) {

src/modules/ekf2/EKF/aid_sources/magnetometer/mag_control.cpp

@@ -59,13 +59,6 @@ void Ekf::controlMagFusion()
 		return;
 	}
 
-	// stop mag (require a reset before using again) if there was an external yaw reset (yaw estimator, GPS yaw, etc)
-	if (_mag_decl_cov_reset && (_state_reset_status.reset_count.quat != _state_reset_count_prev.quat)) {
-		ECL_INFO("yaw reset, stopping mag fusion to force reinitialization");
-		stopMagFusion();
-		resetMagCov();
-	}
-
 	magSample mag_sample;
 
 	if (_mag_buffer && _mag_buffer->pop_first_older_than(_time_delayed_us, &mag_sample)) {
@@ -154,11 +147,13 @@ void Ekf::controlMagFusion()
 
 		// WMM update can occur on the last epoch, just after mag fusion
 		const bool wmm_updated = (_wmm_gps_time_last_set >= aid_src.time_last_fuse);
+		const bool using_ne_aiding = _control_status.flags.gps || _control_status.flags.aux_gpos;
+
 
 		{
-		const bool mag_consistent_or_no_gnss = _control_status.flags.mag_heading_consistent || !_control_status.flags.gps;
+		const bool mag_consistent_or_no_ne_aiding = _control_status.flags.mag_heading_consistent || !using_ne_aiding;
 		const bool common_conditions_passing = _control_status.flags.mag
-						       && ((_control_status.flags.yaw_align && mag_consistent_or_no_gnss)
+						       && ((_control_status.flags.yaw_align && mag_consistent_or_no_ne_aiding)
 						           || (!_control_status.flags.ev_yaw && !_control_status.flags.yaw_align))
 						       && !_control_status.flags.mag_fault
 						       && !_control_status.flags.mag_field_disturbed
@@ -185,74 +180,47 @@ void Ekf::controlMagFusion()
 
 		// if we are using 3-axis magnetometer fusion, but without external NE aiding,
 		// then the declination must be fused as an observation to prevent long term heading drift
-		// fusing declination when gps aiding is available is optional.
-		const bool not_using_ne_aiding = !_control_status.flags.gps && !_control_status.flags.aux_gpos;
-		_control_status.flags.mag_dec = _control_status.flags.mag
-						&& (not_using_ne_aiding || !_control_status.flags.mag_aligned_in_flight);
+		const bool no_ne_aiding_or_pre_takeoff = !using_ne_aiding || !_control_status.flags.in_air;
+		_control_status.flags.mag_dec = _control_status.flags.mag && no_ne_aiding_or_pre_takeoff;
 
 		if (_control_status.flags.mag) {
 
 			if (continuing_conditions_passing && _control_status.flags.yaw_align) {
 
-				if (mag_sample.reset || checkHaglYawResetReq() || wmm_updated) {
+				if (mag_sample.reset || checkHaglYawResetReq() || (wmm_updated && no_ne_aiding_or_pre_takeoff)) {
 					ECL_INFO("reset to %s", AID_SRC_NAME);
 					resetMagStates(_mag_lpf.getState(), _control_status.flags.mag_hdg || _control_status.flags.mag_3D);
 					aid_src.time_last_fuse = _time_delayed_us;
 
 				} else {
-					if (!_mag_decl_cov_reset) {
-						// After any magnetic field covariance reset event the earth field state
-						// covariances need to be corrected to incorporate knowledge of the declination
-						// before fusing magnetometer data to prevent rapid rotation of the earth field
-						// states for the first few observations.
-						fuseDeclination(0.02f);
-						_mag_decl_cov_reset = true;
-						fuseMag(mag_sample.mag, R_MAG, H, aid_src);
+					// The normal sequence is to fuse the magnetometer data first before fusing
+					// declination angle at a higher uncertainty to allow some learning of
+					// declination angle over time.
+					const bool update_all_states = _control_status.flags.mag_3D || _control_status.flags.mag_hdg;
+					const bool update_tilt = _control_status.flags.mag_3D;
+					fuseMag(mag_sample.mag, R_MAG, H, aid_src, update_all_states, update_tilt);
 
-					} else {
-						// The normal sequence is to fuse the magnetometer data first before fusing
-						// declination angle at a higher uncertainty to allow some learning of
-						// declination angle over time.
-						const bool update_all_states = _control_status.flags.mag_3D || _control_status.flags.mag_hdg;
-						const bool update_tilt = _control_status.flags.mag_3D;
-						fuseMag(mag_sample.mag, R_MAG, H, aid_src, update_all_states, update_tilt);
+					// the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned
+					if (update_all_states && update_tilt) {
+						_fault_status.flags.bad_mag_x = (aid_src.innovation_variance[0] < aid_src.observation_variance[0]);
+						_fault_status.flags.bad_mag_y = (aid_src.innovation_variance[1] < aid_src.observation_variance[1]);
+						_fault_status.flags.bad_mag_z = (aid_src.innovation_variance[2] < aid_src.observation_variance[2]);
+					}
 
-						// the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned
-						if (update_all_states && update_tilt) {
-							_fault_status.flags.bad_mag_x = (aid_src.innovation_variance[0] < aid_src.observation_variance[0]);
-							_fault_status.flags.bad_mag_y = (aid_src.innovation_variance[1] < aid_src.observation_variance[1]);
-							_fault_status.flags.bad_mag_z = (aid_src.innovation_variance[2] < aid_src.observation_variance[2]);
-						}
-
-						if (_control_status.flags.mag_dec) {
-							fuseDeclination(0.5f);
-						}
+					if (_control_status.flags.mag_dec) {
+						fuseDeclination(0.5f);
 					}
 				}
 
 				const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.reset_timeout_max);
 
 				if (is_fusion_failing) {
-					if (_nb_mag_3d_reset_available > 0) {
-						// Data seems good, attempt a reset (mag states only unless mag_3D currently active)
+					if (no_ne_aiding_or_pre_takeoff) {
 						ECL_WARN("%s fusion failing, resetting", AID_SRC_NAME);
 						resetMagStates(_mag_lpf.getState(), _control_status.flags.mag_hdg || _control_status.flags.mag_3D);
 						aid_src.time_last_fuse = _time_delayed_us;
 
-						if (_control_status.flags.in_air) {
-							_nb_mag_3d_reset_available--;
-						}
-
-					} else if (starting_conditions_passing) {
-						// Data seems good, but previous reset did not fix the issue
-						// something else must be wrong, declare the sensor faulty and stop the fusion
-						//_control_status.flags.mag_fault = true;
-						ECL_WARN("stopping %s fusion, starting conditions failing", AID_SRC_NAME);
-						stopMagFusion();
-
 					} else {
-						// A reset did not fix the issue but all the starting checks are not passing
-						// This could be a temporary issue, stop the fusion without declaring the sensor faulty
 						ECL_WARN("stopping %s, fusion failing", AID_SRC_NAME);
 						stopMagFusion();
 					}
@@ -267,12 +235,9 @@ void Ekf::controlMagFusion()
 		} else {
 			if (starting_conditions_passing) {
 
-				_control_status.flags.mag = true;
-
 				// activate fusion, reset mag states and initialize variance if first init or in flight reset
 				if (!_control_status.flags.yaw_align
 				    || wmm_updated
-				    || !_mag_decl_cov_reset
 				    || !_state.mag_I.longerThan(0.f)
 				    || (getStateVariance<State::mag_I>().min() < kMagVarianceMin)
 				    || (getStateVariance<State::mag_B>().min() < kMagVarianceMin)
@@ -283,16 +248,17 @@ void Ekf::controlMagFusion()
 
 					resetMagStates(_mag_lpf.getState(), reset_heading);
 					aid_src.time_last_fuse = _time_delayed_us;
-					_nb_mag_3d_reset_available = 2;
 
 					if (reset_heading) {
 						_control_status.flags.yaw_align = true;
 					}
 
+					_control_status.flags.mag = true;
+
 				} else {
 					if (fuseMag(mag_sample.mag, R_MAG, H, aid_src)) {
 						ECL_INFO("starting %s fusion", AID_SRC_NAME);
-						_nb_mag_3d_reset_available = 2;
+						_control_status.flags.mag = true;
 					}
 				}
 			}
@@ -367,23 +333,7 @@ void Ekf::resetMagStates(const Vector3f &mag, bool reset_heading)
 						* Vector3f(_mag_strength_gps, 0, 0);
 
 		// mag_B: reset
-#if defined(CONFIG_EKF2_GNSS)
-
-		if (isYawEmergencyEstimateAvailable()) {
-
-			const Dcmf R_to_earth = updateYawInRotMat(_yawEstimator.getYaw(), _R_to_earth);
-			const Dcmf R_to_body = R_to_earth.transpose();
-
-			// mag_B: reset using WMM and yaw estimator
-			_state.mag_B = mag - (R_to_body * mag_earth_pred);
-
-			ECL_INFO("resetMagStates using yaw estimator");
-
-		} else if (!reset_heading && _control_status.flags.yaw_align) {
-#else
-
 		if (!reset_heading && _control_status.flags.yaw_align) {
-#endif
 			// mag_B: reset using WMM
 			const Dcmf R_to_body = quatToInverseRotMat(_state.quat_nominal);
 			_state.mag_B = mag - (R_to_body * mag_earth_pred);
@@ -399,9 +349,6 @@ void Ekf::resetMagStates(const Vector3f &mag, bool reset_heading)
 			resetMagHeading(mag);
 		}
 
-		// earth field was reset to WMM, skip initial declination fusion
-		_mag_decl_cov_reset = true;
-
 	} else {
 		// mag_B: reset
 		_state.mag_B.zero();

src/modules/ekf2/EKF/aid_sources/magnetometer/mag_fusion.cpp

@@ -103,7 +103,13 @@ bool Ekf::fuseMag(const Vector3f &mag, const float R_MAG, VectorState &H, estima
 
 		VectorState Kfusion = P * H / aid_src.innovation_variance[index];
 
-		if (!update_all_states) {
+		if (update_all_states) {
+			if (!update_tilt) {
+				Kfusion(State::quat_nominal.idx + 0) = 0.f;
+				Kfusion(State::quat_nominal.idx + 1) = 0.f;
+			}
+
+		} else {
 			// zero non-mag Kalman gains if not updating all states
 
 			// copy mag_I and mag_B Kalman gains
@@ -116,14 +122,8 @@ bool Ekf::fuseMag(const Vector3f &mag, const float R_MAG, VectorState &H, estima
 			Kfusion.slice<State::mag_B.dof, 1>(State::mag_B.idx, 0) = K_mag_B;
 		}
 
-		if (!update_tilt) {
-			Kfusion(State::quat_nominal.idx + 0) = 0.f;
-			Kfusion(State::quat_nominal.idx + 1) = 0.f;
-		}
-
 		if (measurementUpdate(Kfusion, H, aid_src.observation_variance[index], aid_src.innovation[index])) {
 			fused[index] = true;
-			limitDeclination();
 		}
 	}
 
@@ -149,10 +149,6 @@ bool Ekf::fuseMag(const Vector3f &mag, const float R_MAG, VectorState &H, estima
 
 bool Ekf::fuseDeclination(float decl_sigma)
 {
-	if (!_control_status.flags.mag) {
-		return false;
-	}
-
 	float decl_measurement = NAN;
 
 	if ((_params.mag_declination_source & GeoDeclinationMask::USE_GEO_DECL)
@@ -191,87 +187,12 @@ bool Ekf::fuseDeclination(float decl_sigma)
 
 		_fault_status.flags.bad_mag_decl = !is_fused;
 
-		if (is_fused) {
-			limitDeclination();
-		}
-
 		return is_fused;
 	}
 
 	return false;
 }
 
-void Ekf::limitDeclination()
-{
-	const Vector3f mag_I_before = _state.mag_I;
-
-	// get a reference value for the earth field declinaton and minimum plausible horizontal field strength
-	float decl_reference = NAN;
-	float h_field_min = 0.001f;
-
-	if (_params.mag_declination_source & GeoDeclinationMask::USE_GEO_DECL
-	    && (PX4_ISFINITE(_mag_declination_gps) && PX4_ISFINITE(_mag_strength_gps) && PX4_ISFINITE(_mag_inclination_gps))
-	   ) {
-		decl_reference = _mag_declination_gps;
-
-		// set to 50% of the horizontal strength from geo tables if location is known
-		h_field_min = fmaxf(h_field_min, 0.5f * _mag_strength_gps * cosf(_mag_inclination_gps));
-
-	} else if ((_params.mag_declination_source & GeoDeclinationMask::SAVE_GEO_DECL)
-		   && PX4_ISFINITE(_params.mag_declination_deg) && (fabsf(_params.mag_declination_deg) > 0.f)
-		  ) {
-		// use parameter value if GPS isn't available
-		decl_reference = math::radians(_params.mag_declination_deg);
-	}
-
-	if (!PX4_ISFINITE(decl_reference)) {
-		return;
-	}
-
-	// do not allow the horizontal field length to collapse - this will make the declination fusion badly conditioned
-	// and can result in a reversal of the NE field states which the filter cannot recover from
-	// apply a circular limit
-	float h_field = sqrtf(_state.mag_I(0) * _state.mag_I(0) + _state.mag_I(1) * _state.mag_I(1));
-
-	if (h_field < h_field_min) {
-		if (h_field > 0.001f * h_field_min) {
-			const float h_scaler = h_field_min / h_field;
-			_state.mag_I(0) *= h_scaler;
-			_state.mag_I(1) *= h_scaler;
-
-		} else {
-			// too small to scale radially so set to expected value
-			_state.mag_I(0) = 2.0f * h_field_min * cosf(decl_reference);
-			_state.mag_I(1) = 2.0f * h_field_min * sinf(decl_reference);
-		}
-
-		h_field = h_field_min;
-	}
-
-	// do not allow the declination estimate to vary too much relative to the reference value
-	constexpr float decl_tolerance = 0.5f;
-	const float decl_max = decl_reference + decl_tolerance;
-	const float decl_min = decl_reference - decl_tolerance;
-	const float decl_estimate = atan2f(_state.mag_I(1), _state.mag_I(0));
-
-	if (decl_estimate > decl_max)  {
-		_state.mag_I(0) = h_field * cosf(decl_max);
-		_state.mag_I(1) = h_field * sinf(decl_max);
-
-	} else if (decl_estimate < decl_min)  {
-		_state.mag_I(0) = h_field * cosf(decl_min);
-		_state.mag_I(1) = h_field * sinf(decl_min);
-	}
-
-	if ((mag_I_before - _state.mag_I).longerThan(0.01f)) {
-		ECL_DEBUG("declination limited mag I [%.3f, %.3f, %.3f] -> [%.3f, %.3f, %.3f] (decl: %.3f)",
-			  (double)mag_I_before(0), (double)mag_I_before(1), (double)mag_I_before(2),
-			  (double)_state.mag_I(0), (double)_state.mag_I(1), (double)_state.mag_I(2),
-			  (double)decl_reference
-			 );
-	}
-}
-
 float Ekf::calculate_synthetic_mag_z_measurement(const Vector3f &mag_meas, const Vector3f &mag_earth_predicted)
 {
 	// theoretical magnitude of the magnetometer Z component value given X and Y sensor measurement and our knowledge

src/modules/ekf2/EKF/covariance.cpp

@@ -163,22 +163,26 @@ void Ekf::predictCovariance(const imuSample &imu_delayed)
 
 
 #if defined(CONFIG_EKF2_MAGNETOMETER)
-	if (_control_status.flags.mag) {
-		// mag_I: add process noise
-		float mag_I_sig = dt * math::constrain(_params.mage_p_noise, 0.f, 1.f);
-		float mag_I_process_noise = sq(mag_I_sig);
+	// mag_I: add process noise
+	float mag_I_sig = dt * math::constrain(_params.mage_p_noise, 0.f, 1.f);
+	float mag_I_process_noise = sq(mag_I_sig);
 
-		for (unsigned index = 0; index < State::mag_I.dof; index++) {
-			const unsigned i = State::mag_I.idx + index;
+	for (unsigned index = 0; index < State::mag_I.dof; index++) {
+		const unsigned i = State::mag_I.idx + index;
+
+		if (P(i, i) < sq(_params.mag_noise)) {
 			P(i, i) += mag_I_process_noise;
 		}
+	}
 
-		// mag_B: add process noise
-		float mag_B_sig = dt * math::constrain(_params.magb_p_noise, 0.f, 1.f);
-		float mag_B_process_noise = sq(mag_B_sig);
+	// mag_B: add process noise
+	float mag_B_sig = dt * math::constrain(_params.magb_p_noise, 0.f, 1.f);
+	float mag_B_process_noise = sq(mag_B_sig);
 
-		for (unsigned index = 0; index < State::mag_B.dof; index++) {
-			const unsigned i = State::mag_B.idx + index;
+	for (unsigned index = 0; index < State::mag_B.dof; index++) {
+		const unsigned i = State::mag_B.idx + index;
+
+		if (P(i, i) < sq(_params.mag_noise)) {
 			P(i, i) += mag_B_process_noise;
 		}
 	}
@@ -304,10 +308,7 @@ void Ekf::resetAccelBiasCov()
 #if defined(CONFIG_EKF2_MAGNETOMETER)
 void Ekf::resetMagCov()
 {
-	if (_mag_decl_cov_reset) {
-		ECL_INFO("reset mag covariance");
-		_mag_decl_cov_reset = false;
-	}
+	ECL_INFO("reset mag covariance");
 
 	P.uncorrelateCovarianceSetVariance<State::mag_I.dof>(State::mag_I.idx, sq(_params.mag_noise));
 	P.uncorrelateCovarianceSetVariance<State::mag_B.dof>(State::mag_B.idx, sq(_params.mag_noise));

src/modules/ekf2/EKF/ekf.h

@@ -705,8 +705,6 @@ private:
 	// used by magnetometer fusion mode selection
 	bool _yaw_angle_observable{false};	///< true when there is enough horizontal acceleration to make yaw observable
 	AlphaFilter<float> _mag_heading_innov_lpf{0.1f};
-	bool _mag_decl_cov_reset{false};	///< true after the fuseDeclination() function has been used to modify the earth field covariances after a magnetic field reset event.
-	uint8_t _nb_mag_3d_reset_available{0};
 	uint32_t _min_mag_health_time_us{1'000'000}; ///< magnetometer is marked as healthy only after this amount of time
 
 	estimator_aid_source3d_s _aid_src_mag{};
@@ -764,8 +762,6 @@ private:
 	// argument passed in is the declination uncertainty in radians
 	bool fuseDeclination(float decl_sigma);
 
-	// apply sensible limits to the declination and length of the NE mag field states estimates
-	void limitDeclination();
 #endif // CONFIG_EKF2_MAGNETOMETER
 
 #if defined(CONFIG_EKF2_AIRSPEED)

src/modules/ekf2/test/change_indication/ekf_gsf_reset.csv

@@ -220,172 +220,172 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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src/modules/ekf2/test/change_indication/iris_gps.csv

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+34290000,-0.29,0.015,-0.0054,0.96,0.042,0.1,-0.06,0.098,-0.0061,-0.045,-0.0013,-0.0057,-3e-05,0.066,0.013,-0.12,-0.11,-0.024,0.5,0.084,-0.032,-0.067,0,0,4.1e-05,3.6e-05,0.047,0.021,0.023,0.005,0.37,0.37,0.03,2.5e-07,2.4e-07,1.4e-06,0.0018,0.002,7.6e-05,0.0011,5.7e-05,0.0012,0.0011,0.00063,0.0012,1,1
+34390000,-0.29,0.015,-0.0053,0.96,0.043,0.097,-0.055,0.093,-0.018,-0.049,-0.0013,-0.0057,-3.8e-05,0.066,0.013,-0.12,-0.11,-0.024,0.5,0.084,-0.032,-0.067,0,0,4.1e-05,3.6e-05,0.047,0.02,0.022,0.005,0.37,0.37,0.03,2.5e-07,2.3e-07,1.4e-06,0.0018,0.002,7.6e-05,0.0011,5.7e-05,0.0012,0.0011,0.00062,0.0012,1,1
+34490000,-0.29,0.015,-0.0053,0.96,0.046,0.1,-0.053,0.097,-0.0082,-0.052,-0.0013,-0.0057,-3e-05,0.066,0.013,-0.12,-0.11,-0.024,0.5,0.085,-0.032,-0.067,0,0,4.1e-05,3.6e-05,0.047,0.021,0.022,0.005,0.38,0.38,0.03,2.5e-07,2.3e-07,1.4e-06,0.0018,0.002,7.6e-05,0.0011,5.7e-05,0.0012,0.0011,0.00062,0.0012,1,1
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src/systemcmds/bsondump/bsondump.cpp

@@ -36,19 +36,27 @@
 #include <px4_platform_common/module.h>
 
 #include <lib/tinybson/tinybson.h>
+#include <libgen.h>
 
 #include <fcntl.h>
 
-static void print_usage(const char *reason = nullptr)
+static void print_usage(const char *reason = nullptr, const char *command = nullptr)
 {
 	if (reason) {
 		PX4_ERR("%s", reason);
 	}
 
-	PRINT_MODULE_DESCRIPTION("read BSON from a file and print in human form");
+	PRINT_MODULE_DESCRIPTION("Utility to read BSON from a file and print or output document size.");
 
-	PRINT_MODULE_USAGE_NAME_SIMPLE("bsondump", "command");
-	PRINT_MODULE_USAGE_ARG("<file>", "File name", false);
+	if (command == nullptr || strcmp(command, "docsize") == 0) {
+		PRINT_MODULE_USAGE_NAME_SIMPLE("bsondump docsize", "command");
+		PRINT_MODULE_USAGE_ARG("<file>", "The BSON file to decode for document size.", false);
+	}
+
+	if (command == nullptr) {
+		PRINT_MODULE_USAGE_NAME_SIMPLE("bsondump", "command");
+		PRINT_MODULE_USAGE_ARG("<file>", "The BSON file to decode and print.", false);
+	}
 }
 
 static int bson_print_callback(bson_decoder_t decoder, bson_node_t node)
@@ -82,58 +90,140 @@ static int bson_print_callback(bson_decoder_t decoder, bson_node_t node)
 	return -1;
 }
 
+static int
+bson_docsize_callback(bson_decoder_t decoder, bson_node_t node)
+{
+
+	if (node->type == BSON_EOO) {
+		PX4_DEBUG("end of parameters");
+		return 0;
+	}
+
+	return 1;
+}
+
 extern "C" __EXPORT int bsondump_main(int argc, char *argv[])
 {
-	if (argc != 2) {
-		print_usage();
+
+	if (argc < 2) {
+		print_usage("Invalid number of arguments.");
+		return -1;
+	}
+
+	const char *command = argv[1];
+
+	if (strcmp(command, "docsize") == 0) {
+
+		if (argc != 3) {
+			print_usage("Usage: bsondump docsize <file>", "docsize");
+			return -1;
+		}
+
+		const char *file_name = argv[2];
+		int source_fd = open(file_name, O_RDONLY);
+
+		if (source_fd < 0) {
+			PX4_ERR("open '%s' failed (%i)", file_name, errno);
+			return 1;
+		}
+
+		bson_decoder_s decoder{};
+		int result = -1;
+
+		if (bson_decoder_init_file(&decoder, source_fd, bson_docsize_callback) == 0) {
+
+			do {
+				result = bson_decoder_next(&decoder);
+
+			} while (result > 0);
+
+			PX4_INFO("DECODED_SIZE:%" PRId32 " SAVED_SIZE:%" PRId32 "\n",
+				 decoder.total_decoded_size, decoder.total_document_size);
+		}
+
+		close(source_fd);
+
+		if (decoder.total_decoded_size != decoder.total_document_size && decoder.total_document_size == 0) {
+
+			PX4_WARN("Mismatch in BSON sizes and saved size is zero. Setting document size to decoded size.");
+
+			source_fd = open(file_name, O_RDWR);
+
+			if (source_fd == -1) {
+				perror("Failed to re-open source file for reading and writing");
+				return -1;
+			}
+
+			// Modify the first 4 bytes with the correct decoded size
+			uint32_t corrected_size = decoder.total_decoded_size;
+
+			if (lseek(source_fd, 0, SEEK_SET) == (off_t) -1) {
+				perror("Failed to seek to the beginning of the file");
+				close(source_fd);
+				return -1;
+			}
+
+			if (write(source_fd, &corrected_size, sizeof(corrected_size)) != sizeof(corrected_size)) {
+				perror("Failed to write the corrected size to the file");
+				close(source_fd);
+				return -1;
+			}
+
+			close(source_fd);
+
+			return 1;
+		}
+
+		return 0;
+
 
 	} else {
-		char *file_name = argv[1];
 
-		if (file_name) {
-			int fd = open(file_name, O_RDONLY);
+		const char *file_name = argv[1];
 
-			if (fd < 0) {
-				PX4_ERR("open '%s' failed (%i)", file_name, errno);
-				return 1;
+		int fd = open(file_name, O_RDONLY);
 
-			} else {
-				PX4_INFO_RAW("[bsondump] reading from %s\n", file_name);
+		if (fd < 0) {
+			PX4_ERR("open '%s' failed (%i)", file_name, errno);
+			return 1;
 
-				bson_decoder_s decoder{};
+		} else {
+			PX4_INFO_RAW("[bsondump] reading from %s\n", file_name);
 
-				if (bson_decoder_init_file(&decoder, fd, bson_print_callback) == 0) {
-					PX4_INFO_RAW("BSON document size %" PRId32 "\n", decoder.total_document_size);
+			bson_decoder_s decoder{};
 
-					int result = -1;
+			if (bson_decoder_init_file(&decoder, fd, bson_print_callback) == 0) {
+				PX4_INFO_RAW("BSON document size %" PRId32 "\n", decoder.total_document_size);
 
-					do {
-						result = bson_decoder_next(&decoder);
+				int result = -1;
 
-					} while (result > 0);
+				do {
+					result = bson_decoder_next(&decoder);
 
-					close(fd);
+				} while (result > 0);
 
-					if (result == 0) {
-						PX4_INFO_RAW("BSON decoded %" PRId32 " bytes (double:%" PRIu16 ", string:%" PRIu16 ", bin:%" PRIu16 ", bool:%" PRIu16
-							     ", int32:%" PRIu16 ", int64:%" PRIu16 ")\n",
-							     decoder.total_decoded_size,
-							     decoder.count_node_double, decoder.count_node_string, decoder.count_node_bindata, decoder.count_node_bool,
-							     decoder.count_node_int32, decoder.count_node_int64);
+				close(fd);
 
-						return 0;
+				if (result == 0) {
+					PX4_INFO_RAW("BSON decoded %" PRId32 " bytes (double:%" PRIu16 ", string:%" PRIu16 ", bin:%" PRIu16 ", bool:%" PRIu16
+						     ", int32:%" PRIu16 ", int64:%" PRIu16 ")\n",
+						     decoder.total_decoded_size,
+						     decoder.count_node_double, decoder.count_node_string, decoder.count_node_bindata, decoder.count_node_bool,
+						     decoder.count_node_int32, decoder.count_node_int64);
 
-					} else if (result == -ENODATA) {
-						PX4_WARN("no data");
-						return -1;
+					return 0;
 
-					} else {
-						PX4_ERR("failed (%d)", result);
-						return -1;
-					}
+				} else if (result == -ENODATA) {
+					PX4_WARN("no data");
+					return -1;
+
+				} else {
+					PX4_ERR("failed (%d)", result);
+					return -1;
 				}
 			}
 		}
+
 	}
 
 	return -1;