T-Motor Alpha ESC telemetry input support

Tools/ardupilotwaf/ardupilotwaf.py

@@ -108,6 +108,7 @@
     'AP_VideoTX',
     'AP_FETtecOneWire',
     'AP_Torqeedo',
+    'AP_TMotorESC',
 ]
 
 def get_legacy_defines(sketch_name, bld):

libraries/AP_Arming/AP_Arming.cpp

@@ -43,6 +43,7 @@
 #include <AP_OSD/AP_OSD.h>
 #include <AP_Button/AP_Button.h>
 #include <AP_FETtecOneWire/AP_FETtecOneWire.h>
+#include <AP_TMotorESC/AP_TMotorESC.h>
 
 #if HAL_MAX_CAN_PROTOCOL_DRIVERS
   #include <AP_CANManager/AP_CANManager.h>
@@ -1106,7 +1107,7 @@ bool AP_Arming::fettec_checks(bool display_failure) const
         return true;
     }
 
-    // check camera is ready
+    // check ESCs are ready
     char fail_msg[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
     if (!f->pre_arm_check(fail_msg, ARRAY_SIZE(fail_msg))) {
         check_failed(ARMING_CHECK_ALL, display_failure, "FETtec: %s", fail_msg);
@@ -1116,6 +1117,24 @@ bool AP_Arming::fettec_checks(bool display_failure) const
     return true;
 }
 
+bool AP_Arming::tmotor_esc_checks(bool display_failure) const
+{
+#if AP_TMOTOR_ESC_ENABLED
+    const AP_TMotorESC *f = AP_TMotorESC::get_singleton();
+    if (f == nullptr) {
+        return true;
+    }
+
+    // check ESCs are ready
+    char fail_msg[MAVLINK_MSG_STATUSTEXT_FIELD_TEXT_LEN+1];
+    if (!f->pre_arm_check(fail_msg, ARRAY_SIZE(fail_msg))) {
+        check_failed(ARMING_CHECK_ALL, display_failure, "TMotor: %s", fail_msg);
+        return false;
+    }
+#endif
+    return true;
+}
+
 // request an auxiliary authorisation id.  This id should be used in subsequent calls to set_aux_auth_passed/failed
 // returns true on success
 bool AP_Arming::get_aux_auth_id(uint8_t& auth_id)
@@ -1280,7 +1299,12 @@ bool AP_Arming::pre_arm_checks(bool report)
         &  proximity_checks(report)
         &  camera_checks(report)
         &  osd_checks(report)
+#if AP_FETTEC_ONEWIRE_ENABLED
         &  fettec_checks(report)
+#endif
+#if AP_TMOTOR_ESC_ENABLED
+        &  tmotor_esc_checks(report)
+#endif
         &  visodom_checks(report)
         &  aux_auth_checks(report)
         &  disarm_switch_checks(report)

libraries/AP_Arming/AP_Arming.h

@@ -188,6 +188,8 @@ class AP_Arming {
 
     bool fettec_checks(bool display_failure) const;
 
+    bool tmotor_esc_checks(bool display_failure) const;
+
     virtual bool proximity_checks(bool report) const;
 
     bool servo_checks(bool report) const;

libraries/AP_FETtecOneWire/AP_FETtecOneWire.cpp

@@ -141,7 +141,7 @@ void AP_FETtecOneWire::init()
 
     // initialise ESC ids.  This enforces that the FETtec ESC ids
     // inside FETtec ESCs need to be contiguous and start at ID 1
-    // which required by fast-throttle commands.
+    // which is required by fast-throttle commands.
     uint8_t esc_offset = 0;  // offset into our device-driver dynamically-allocated array of ESCs
     uint8_t esc_id = 1;      // ESC ids inside FETtec protocol are one-indexed
     uint8_t servo_chan_offset = 0;  // offset into _motor_mask_parameter array

libraries/AP_FETtecOneWire/README.md

@@ -4,7 +4,7 @@ FETtec OneWire is an [ESC](https://en.wikipedia.org/wiki/Electronic_speed_contro
 It is a (bidirectional) [digital full-duplex asynchronous serial communication protocol](https://en.wikipedia.org/wiki/Asynchronous_serial_communication) running at 500Kbit/s Baudrate. It requires three wire (RX, TX and GND) connection (albeit the name OneWire) regardless of the number of ESCs connected.
 Unlike bidirectional-Dshot, the FETtec OneWire protocol does not need one DMA channel per ESC for bidirectional communication. 
 
-For purchase, connection and configuration information please see the [Ardupilot FETtec OneWire wiki page](https://ardupilot.org/copter/docs/common-fettec-onewire.html).
+For purchase, connection and configuration information please see the [ArduPilot FETtec OneWire wiki page](https://ardupilot.org/copter/docs/common-fettec-onewire.html).
 
 ## Features of this device driver
 
@@ -39,9 +39,9 @@ For purchase, connection and configuration information please see the [Ardupilot
   - fly a copter over a simulated serial link connection
 
 
-## Ardupilot to ESC protocol
+## ArduPilot to ESC protocol
 
-The FETtec OneWire protocol supports up to 24 ESCs. As most copters only use at most 12 motors, Ardupilot's implementation supports only 12 (`ESC_TELEM_MAX_ESCS`)to save memory.
+The FETtec OneWire protocol supports up to 24 ESCs. As most copters only use at most 12 motors, ArduPilot's implementation supports only 12 (`ESC_TELEM_MAX_ESCS`)to save memory.
 
 There are two types of messages sent to the ESCs configuration and fast-throttle messages:
 
@@ -95,21 +95,21 @@ The signal is used to transfer the eleven bit throttle signals with as few bytes
 All motors wait for the complete message with all throttle signals before changing their output.
 
 If telemetry is requested the ESCs will answer them in the ESC-ID order.
-See *ESC to Ardupilot Protocol* section below and comments in `AP_FETtecOneWire.cpp` for details.
+See *ESC to ArduPilot Protocol* section below and comments in `AP_FETtecOneWire.cpp` for details.
 
 
 ### Timing
 
 Four ESCs need 90us for the fast-throttle request and telemetry reception. With four ESCs 11kHz update would be possible.
 Each additional ESC adds 11 extra fast-throttle command bits, so the update rate is lowered by each additional ESC.
 If you use 8 ESCs, it needs 160us including telemetry response, so 5.8kHz update rate would be possible.
-The FETtec Ardupilot device driver limits the message transmit period to `_min_fast_throttle_period_us` according to the number of ESCs used.
+The FETtec ArduPilot device driver limits the message transmit period to `_min_fast_throttle_period_us` according to the number of ESCs used.
 The update() function has an extra invocation period limit so that even at very high loop rates the the ESCs will still operate correctly albeit doing some decimation.
 The current update rate for Copter is 400Hz (~2500us) and for other vehicles is 50Hz (~20000us) so we are bellow device driver limit.
 
 **Note:** The FETtec ESCs firmware requires at least a 4Hz fast-throttle update rate (max. 250ms between messages) otherwise the FETtec ESC disarm (stop) the motors.
 
-## ESC to Ardupilot protocol
+## ESC to ArduPilot protocol
 
 OneWire ESC telemetry information is sent back to the autopilot:
 
@@ -120,7 +120,7 @@ OneWire ESC telemetry information is sent back to the autopilot:
 - Temperature (°C/10)
 - CRC errors (ArduPilot->ESC) counter
 
-This information is used by Ardupilot to:
+This information is used by ArduPilot to:
 
 - log the status of each ESC to the SDCard or internal Flash, for post flight analysis
 - send the status of each ESC to the ground station or companion computer for real-time monitoring
@@ -137,8 +137,8 @@ The data is forwarded to the `AP_ESC_Telem` class that distributes it to other p
 
 There are two public top level functions `update()` and `pre_arm_check()`.
 And these two call all other private internal functions.
-A single (per ESC) state variable (`_escs[i]._state`) is used in both the RX and TX state machnines.
-Here is the callgraph:
+A single (per ESC) state variable (`_escs[i]._state`) is used in both the RX and TX state machines.
+Here is the call graph:
 
 ```
 update()

libraries/AP_HAL_ChibiOS/hwdef/skyviper-f412-rev1/hwdef.dat

@@ -135,3 +135,4 @@ define HAL_BARO_20789_I2C_ADDR_PRESS 0x63
 # Disable un-needed hardware drivers
 define HAL_WITH_ESC_TELEM 0
 define AP_FETTEC_ONEWIRE_ENABLED 0
+define AP_TMOTOR_ESC_ENABLED 0

libraries/AP_HAL_ChibiOS/hwdef/skyviper-journey/hwdef.dat

@@ -138,3 +138,4 @@ define AP_PARAM_MAX_EMBEDDED_PARAM 8192
 # Disable un-needed hardware drivers
 define HAL_WITH_ESC_TELEM 0
 define AP_FETTEC_ONEWIRE_ENABLED 0
+define AP_TMOTOR_ESC_ENABLED 0

libraries/AP_HAL_ChibiOS/hwdef/skyviper-v2450/hwdef.dat

@@ -68,3 +68,4 @@ env BUILD_ABIN True
 # Disable un-needed hardware drivers
 define HAL_WITH_ESC_TELEM 0
 define AP_FETTEC_ONEWIRE_ENABLED 0
+define AP_TMOTOR_ESC_ENABLED 0

libraries/AP_SerialManager/AP_SerialManager.cpp

@@ -137,7 +137,7 @@ const AP_Param::GroupInfo AP_SerialManager::var_info[] = {
     // @Param: 1_PROTOCOL
     // @DisplayName: Telem1 protocol selection
     // @Description: Control what protocol to use on the Telem1 port. Note that the Frsky options require external converter hardware. See the wiki for details.
-    // @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Rangefinder, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 13:Beacon, 14:Volz servo out, 15:SBus servo out, 16:ESC Telemetry, 17:Devo Telemetry, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane, 22:SLCAN, 23:RCIN, 24:MegaSquirt EFI, 25:LTM, 26:RunCam, 27:HottTelem, 28:Scripting, 29:Crossfire VTX, 30:Generator, 31:Winch, 32:MSP, 33:DJI FPV, 34:AirSpeed, 35:ADSB, 36:AHRS, 37:SmartAudio, 38:FETtecOneWire, 39:Torqeedo, 40:AIS
+    // @Values: -1:None, 1:MAVLink1, 2:MAVLink2, 3:Frsky D, 4:Frsky SPort, 5:GPS, 7:Alexmos Gimbal Serial, 8:SToRM32 Gimbal Serial, 9:Rangefinder, 10:FrSky SPort Passthrough (OpenTX), 11:Lidar360, 13:Beacon, 14:Volz servo out, 15:SBus servo out, 16:ESC Telemetry, 17:Devo Telemetry, 18:OpticalFlow, 19:RobotisServo, 20:NMEA Output, 21:WindVane, 22:SLCAN, 23:RCIN, 24:MegaSquirt EFI, 25:LTM, 26:RunCam, 27:HottTelem, 28:Scripting, 29:Crossfire VTX, 30:Generator, 31:Winch, 32:MSP, 33:DJI FPV, 34:AirSpeed, 35:ADSB, 36:AHRS, 37:SmartAudio, 38:FETtecOneWire, 39:Torqeedo, 40:AIS, 41: TMotorESC
     // @User: Standard
     // @RebootRequired: True
     AP_GROUPINFO("1_PROTOCOL",  1, AP_SerialManager, state[1].protocol, SerialProtocol_MAVLink2),

libraries/AP_SerialManager/AP_SerialManager.h

@@ -156,6 +156,7 @@ class AP_SerialManager {
         SerialProtocol_AIS = 40,
         SerialProtocol_CoDevESC = 41,
         SerialProtocol_MSP_DisplayPort = 42,
+        SerialProtocol_TMotorESC = 43,
         SerialProtocol_NumProtocols                    // must be the last value
     };