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194 lines
7.1 KiB
Markdown
194 lines
7.1 KiB
Markdown
# DShot 电调
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DShot is an alternative ESC protocol that has several advantages over [PWM](../peripherals/pwm_escs_and_servo.md) or [OneShot](../peripherals/oneshot.md):
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- 低延迟
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- 通过校验提高鲁棒性
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- 由于协议使用数字编码，因此无需电调校准
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- 很多电调支持数传反馈。
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- 可以通过命令反转电机方向（而不是物理调换两根线/重新焊接）。
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- 支持其他好用的命令。
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本章介绍了如何连接和配置 DShot 电调。
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## Supported ESC
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[ESCs & Motors > Supported ESCs](../peripherals/esc_motors#supported-esc) has a list of supported ESC (check "Protocols" column for DShot ESC).
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## Wiring/Connections {#wiring}
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DShot ESC are wired the same way as [PWM ESCs](pwm_escs_and_servo.md).
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唯一的区别在于它们只能连接到FMU，通常只能连接到某些引脚的子集。
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:::info
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You may want to check the actuator configuration screen to see what pins are available for DShot on your controller before wiring up!
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:::
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Pixhawk controllers with both an FMU and an IO board usually label them as `AUX` (FMU) and `MAIN` (IO), respectively.
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These match the `PWM AUX` and `PWM MAIN` output tabs on the actuator configuration screen.
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For these controllers connect the DShot ESC to the `AUX` port.
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Controllers that don't have an IO board usually label the (single) output port as `MAIN`, and this is where you will connect your DShot ESC.
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If the controller without IO has its own firmware, the actuator assignment will be to the matching `PWM MAIN` outputs.
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However if the same firmware is used for hardware with/without the IO board, such as for the Pixhawk 4 and Pixhawk 4 Mini, then actuator assignment tab used is the same in both cases: `PWM AUX` (i.e. not matching the port label `MAIN` in the "mini" case).
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## 配置
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:::warning
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Remove propellers before changing ESC configuration parameters!
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:::
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Enable DShot for your required outputs in the [Actuator Configuration](../config/actuators.md).
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DShot comes with different speed options: _DShot150_, _DShot300_, and _DShot600_ where the number indicates the speed in kilo-bits/second.
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您应该将参数设置为您的电调支持的最高速度（根据其说明书）。
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然后连接电池并解锁无人机。
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电调应该初始化，电机应该按照正确的方向转动。
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- If the motors do not spin in the correct direction (for the [selected airframe](../airframes/airframe_reference.md)) you can reverse them in the UI using the **Set Spin Direction** option (this option appears after you select DShot and assign motors).
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You can also reverse motors by sending an [ESC Command](#commands).
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## ESC Commands {#commands}
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Commands can be sent to the ESC via the [MAVLink shell](../debug/mavlink_shell.md).
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See [here](../modules/modules_driver.md#dshot) for a full reference of the supported commands.
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其中最重要的是：
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- Make a motor connected to to FMU output pin 1 beep (helps with identifying motors)
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```sh
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dshot beep1 -m 1
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```
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- Retrieve ESC information (requires telemetry, see below):
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```sh
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nsh> dshot esc_info -m 2
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INFO [dshot] ESC Type: #TEKKO32_4in1#
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INFO [dshot] MCU Serial Number: xxxxxx-xxxxxx-xxxxxx-xxxxxx
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INFO [dshot] Firmware version: 32.60
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INFO [dshot] Rotation Direction: normal
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INFO [dshot] 3D Mode: off
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INFO [dshot] Low voltage Limit: off
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INFO [dshot] Current Limit: off
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INFO [dshot] LED 0: unsupported
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INFO [dshot] LED 1: unsupported
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INFO [dshot] LED 2: unsupported
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INFO [dshot] LED 3: unsupported
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```
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- Permanently set the spin direction of a motor connected to FMU output pin 1 (while motors are _not_ spinning):
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- Set spin direction to `reversed`:
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```sh
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dshot reverse -m 1
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dshot save -m 1
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```
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Retrieving ESC information will then show:
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```sh
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Rotation Direction: reversed
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```
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- Set spin direction to `normal`:
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```sh
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dshot normal -m 1
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dshot save -m 1
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```
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Retrieving ESC information will then show:
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```sh
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Rotation Direction: normal
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```
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:::note
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- The commands will have no effect if the motors are spinning, or if the ESC is already set to the corresponding direction.
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- The ESC will revert to its last saved direction (normal or reversed) on reboot if `save` is not called after changing the direction.
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:::
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## ESC Telemetry
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Some ESCs are capable of sending telemetry back to the flight controller through a UART RX port.
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这些DShot 电调会有一条额外的连接线。
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The provided telemetry includes:
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- Temperature
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- Voltage
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- Current
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- Accumulated current consumption
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- 转速值
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开启遥测数据功能（仅对于能支持遥测数据的电调）:
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1. 把电调上的TELE端口连接到飞控上空的串口的 RX 端。
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2. Enable telemetry on that serial port using [DSHOT_TEL_CFG](../advanced_config/parameter_reference.md#DSHOT_TEL_CFG).
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重启后，您可以检查TELE数据传输是否正常工作（确保电池已连接），方法如下：
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```sh
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dshot esc_info -m 1
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```
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:::tip
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You may have to configure [MOT_POLE_COUNT](../advanced_config/parameter_reference.md#MOT_POLE_COUNT) to get the correct RPM values.
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:::
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:::tip
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Not all DSHOT-capable ESCs support `[esc_info]`(e.g. APD 80F3x), even when telemetry is supported and enabled.
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显示的错误是：
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```sh
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ERROR [dshot] No data received. If telemetry is setup correctly, try again.
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```
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查看制造商文档以获取详细信息。
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:::
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## Bidirectional DShot (Telemetry)
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<Badge type="tip" text="PX4 v1.16" />
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Bidirectional DShot is a protocol that can provide telemetry including: high rate ESC RPM data, voltage, current, and temperature with a single wire.
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The PX4 implementation currently enables only ESC RPM (eRPM) data collection from each ESC at high frequencies.
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This telemetry significantly improves the performance of [Dynamic Notch Filters](../config_mc/filter_tuning.md#dynamic-notch-filters) and enables more precise vehicle tuning.
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:::info
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The [ESC Telemetry](#esc-telemetry) described above is currently still necessary if you want voltage, current, or temperature information.
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It's setup and use is independent of bidirectional DShot.
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:::
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### 硬件安装
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The ESC must be connected to FMU outputs only.
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These will be labeled `MAIN` on flight controllers that only have one PWM bus, and `AUX` on controllers that have both `MAIN` and `AUX` ports (i.e. FCs that have an IO board).
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:::warning
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**Limited hardware support**
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This feature is only supported on flight controllers with the following processors:
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- STM32H7: First four FMU outputs
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- Must be connected to the first 4 FMU outputs, and these outputs must also be mapped to the same timer.
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- [KakuteH7](../flight_controller/kakuteh7v2.md) is not supported because the outputs are not mapped to the same timer.
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- [i.MXRT](../flight_controller/nxp_mr_vmu_rt1176.md) (V6X-RT & Tropic): 8 FMU outputs.
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No other boards are supported.
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:::
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### Configuration {#bidirectional-dshot-configuration}
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To enable bidirectional DShot, set the [DSHOT_BIDIR_EN](../advanced_config/parameter_reference.md#DSHOT_BIDIR_EN) parameter.
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The system calculates actual motor RPM from the received eRPM data using the [MOT_POLE_COUNT](../advanced_config/parameter_reference.md#MOT_POLE_COUNT) parameter.
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This parameter must be set correctly for accurate RPM reporting.
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