Add DShot module

ROMFS/px4fmu_common/init.d/airframes/4041_beta75x

@@ -50,10 +50,7 @@ then
 	param set MPC_MAN_TILT_MAX 60
 
 	param set MOT_ORDERING 1
-	param set PWM_DISARMED 950
-	param set PWM_MAX 1900
-	param set PWM_MIN 1250
-	param set PWM_RATE 0
+	param set DSHOT_CONFIG 600
 
 	param set RC_FLT_CUTOFF 0
 

ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2

@@ -25,32 +25,31 @@ then
 	param set IMU_GYRO_CUTOFF 120
 	param set MC_DTERM_CUTOFF 0
 
-	param set MC_ROLLRATE_P 0.036
+	param set MC_ROLLRATE_P 0.075
 	param set MC_ROLLRATE_I 0.25
-	param set MC_ROLLRATE_D 0.0006
+	param set MC_ROLLRATE_D 0.0015
 	param set MC_ROLLRATE_MAX 1600
 	param set MC_ROLL_P 10
 
-	param set MC_PITCHRATE_P 0.036
+	param set MC_PITCHRATE_P 0.075
 	param set MC_PITCHRATE_I 0.32
-	param set MC_PITCHRATE_D 0.0004
+	param set MC_PITCHRATE_D 0.0015
 	param set MC_PITCHRATE_MAX 1600
 	param set MC_PITCH_P 10
 
 	param set MC_YAWRATE_MAX 1000
-	param set MC_YAWRATE_P 0.04
+	param set MC_YAWRATE_P 0.15
 	param set MC_YAW_P 4
 
 	param set MOT_ORDERING 1
 	param set MPC_MANTHR_MIN 0
 	param set MPC_MAN_TILT_MAX 60
-	param set PWM_MAX 1950
-	param set PWM_MIN 1075
-	param set PWM_RATE 400
+
+	param set DSHOT_CONFIG 1200
 
 	param set OSD_ATXXXX_CFG 1
 
-	param set THR_MDL_FAC 0.7
+	param set THR_MDL_FAC 0.35
 
 	param set MPC_THR_CURVE 1
 	param set MPC_THR_HOVER 0.12

ROMFS/px4fmu_common/init.d/rc.interface

@@ -9,6 +9,7 @@
 #  Otherwise, the variable name goes to the end of the argument.
 #
 
+set FMU_CMD fmu
 set MIXER_AUX_FILE none
 set OUTPUT_AUX_DEV /dev/pwm_output1
 set OUTPUT_DEV none
@@ -42,9 +43,19 @@ then
 		if [ $IO_PRESENT = yes ]
 		then
 			set OUTPUT_MODE io
+			if param greater DSHOT_CONFIG 0
+			then
+				set FMU_CMD dshot
+			fi
 		fi
 	else
-		set OUTPUT_MODE fmu
+		if param greater DSHOT_CONFIG 0
+		then
+			set OUTPUT_MODE dshot
+			set FMU_CMD dshot
+		else
+			set OUTPUT_MODE fmu
+		fi
 	fi
 fi
 
@@ -80,11 +91,11 @@ then
 		fi
 	fi
 
-	if [ $OUTPUT_MODE = fmu ]
+	if [ $OUTPUT_MODE = $FMU_CMD ]
 	then
-		if ! fmu mode_$FMU_MODE $FMU_ARGS
+		if ! $FMU_CMD mode_$FMU_MODE
 		then
-			echo "FMU start failed" >> $LOG_FILE
+			echo "$FMU_CMD start failed" >> $LOG_FILE
 			# Error tune.
 			tune_control play -t 2
 		fi
@@ -195,7 +206,7 @@ then
 
 	if [ $MIXER_AUX_FILE != none ]
 	then
-		if fmu mode_${AUX_MODE} $FMU_ARGS
+		if $FMU_CMD mode_${AUX_MODE}
 		then
 			# Append aux mixer to main device.
 			if param greater SYS_HITL 0
@@ -228,82 +239,86 @@ then
 			set FAILSAFE_AUX none
 		fi
 
-		# Set min / max for aux out and rates.
-		if [ $PWM_AUX_OUT != none ]
+		# for DShot do not configure pwm values
+		if [ $FMU_CMD != dshot ]
 		then
-			# Set PWM_AUX output frequency.
-			if [ $PWM_AUX_RATE != none ]
+			# Set min / max for aux out and rates.
+			if [ $PWM_AUX_OUT != none ]
 			then
-				pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
-			fi
+				# Set PWM_AUX output frequency.
+				if [ $PWM_AUX_RATE != none ]
+				then
+					pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
+				fi
 
-			# Set disarmed, min and max PWM_AUX values.
-			if [ $PWM_AUX_DISARMED != none ]
-			then
-				pwm disarmed -c ${PWM_AUX_OUT} -p ${PWM_AUX_DISARMED} -d ${OUTPUT_AUX_DEV}
-			fi
-			if [ $PWM_AUX_MIN != none ]
-			then
-				pwm min -c ${PWM_AUX_OUT} -p ${PWM_AUX_MIN} -d ${OUTPUT_AUX_DEV}
+				# Set disarmed, min and max PWM_AUX values.
+				if [ $PWM_AUX_DISARMED != none ]
+				then
+					pwm disarmed -c ${PWM_AUX_OUT} -p ${PWM_AUX_DISARMED} -d ${OUTPUT_AUX_DEV}
+				fi
+				if [ $PWM_AUX_MIN != none ]
+				then
+					pwm min -c ${PWM_AUX_OUT} -p ${PWM_AUX_MIN} -d ${OUTPUT_AUX_DEV}
+				fi
+				if [ $PWM_AUX_MAX != none ]
+				then
+					pwm max -c ${PWM_AUX_OUT} -p ${PWM_AUX_MAX} -d ${OUTPUT_AUX_DEV}
+				fi
 			fi
-			if [ $PWM_AUX_MAX != none ]
+
+			#
+			# Per channel disarmed settings.
+			#
+			pwm disarmed -c 1 -p p:PWM_AUX_DIS1 -d ${OUTPUT_AUX_DEV}
+			pwm disarmed -c 2 -p p:PWM_AUX_DIS2 -d ${OUTPUT_AUX_DEV}
+			pwm disarmed -c 3 -p p:PWM_AUX_DIS3 -d ${OUTPUT_AUX_DEV}
+			pwm disarmed -c 4 -p p:PWM_AUX_DIS4 -d ${OUTPUT_AUX_DEV}
+			pwm disarmed -c 5 -p p:PWM_AUX_DIS5 -d ${OUTPUT_AUX_DEV}
+			pwm disarmed -c 6 -p p:PWM_AUX_DIS6 -d ${OUTPUT_AUX_DEV}
+			pwm disarmed -c 7 -p p:PWM_AUX_DIS7 -d ${OUTPUT_AUX_DEV}
+			pwm disarmed -c 8 -p p:PWM_AUX_DIS8 -d ${OUTPUT_AUX_DEV}
+
+			#
+			# Per channel min settings.
+			#
+			pwm min -c 1 -p p:PWM_AUX_MIN1 -d ${OUTPUT_AUX_DEV}
+			pwm min -c 2 -p p:PWM_AUX_MIN2 -d ${OUTPUT_AUX_DEV}
+			pwm min -c 3 -p p:PWM_AUX_MIN3 -d ${OUTPUT_AUX_DEV}
+			pwm min -c 4 -p p:PWM_AUX_MIN4 -d ${OUTPUT_AUX_DEV}
+			pwm min -c 5 -p p:PWM_AUX_MIN5 -d ${OUTPUT_AUX_DEV}
+			pwm min -c 6 -p p:PWM_AUX_MIN6 -d ${OUTPUT_AUX_DEV}
+			pwm min -c 7 -p p:PWM_AUX_MIN7 -d ${OUTPUT_AUX_DEV}
+			pwm min -c 8 -p p:PWM_AUX_MIN8 -d ${OUTPUT_AUX_DEV}
+
+			#
+			# Per channel max settings.
+			#
+			pwm max -c 1 -p p:PWM_AUX_MAX1 -d ${OUTPUT_AUX_DEV}
+			pwm max -c 2 -p p:PWM_AUX_MAX2 -d ${OUTPUT_AUX_DEV}
+			pwm max -c 3 -p p:PWM_AUX_MAX3 -d ${OUTPUT_AUX_DEV}
+			pwm max -c 4 -p p:PWM_AUX_MAX4 -d ${OUTPUT_AUX_DEV}
+			pwm max -c 5 -p p:PWM_AUX_MAX5 -d ${OUTPUT_AUX_DEV}
+			pwm max -c 6 -p p:PWM_AUX_MAX6 -d ${OUTPUT_AUX_DEV}
+			pwm max -c 7 -p p:PWM_AUX_MAX7 -d ${OUTPUT_AUX_DEV}
+			pwm max -c 8 -p p:PWM_AUX_MAX8 -d ${OUTPUT_AUX_DEV}
+
+			if [ $FAILSAFE_AUX != none ]
 			then
-				pwm max -c ${PWM_AUX_OUT} -p ${PWM_AUX_MAX} -d ${OUTPUT_AUX_DEV}
+				pwm failsafe -c ${PWM_AUX_OUT} -p ${FAILSAFE} -d ${OUTPUT_AUX_DEV}
 			fi
-		fi
 
-		#
-		# Per channel disarmed settings.
-		#
-		pwm disarmed -c 1 -p p:PWM_AUX_DIS1 -d ${OUTPUT_AUX_DEV}
-		pwm disarmed -c 2 -p p:PWM_AUX_DIS2 -d ${OUTPUT_AUX_DEV}
-		pwm disarmed -c 3 -p p:PWM_AUX_DIS3 -d ${OUTPUT_AUX_DEV}
-		pwm disarmed -c 4 -p p:PWM_AUX_DIS4 -d ${OUTPUT_AUX_DEV}
-		pwm disarmed -c 5 -p p:PWM_AUX_DIS5 -d ${OUTPUT_AUX_DEV}
-		pwm disarmed -c 6 -p p:PWM_AUX_DIS6 -d ${OUTPUT_AUX_DEV}
-		pwm disarmed -c 7 -p p:PWM_AUX_DIS7 -d ${OUTPUT_AUX_DEV}
-		pwm disarmed -c 8 -p p:PWM_AUX_DIS8 -d ${OUTPUT_AUX_DEV}
-
-		#
-		# Per channel min settings.
-		#
-		pwm min -c 1 -p p:PWM_AUX_MIN1 -d ${OUTPUT_AUX_DEV}
-		pwm min -c 2 -p p:PWM_AUX_MIN2 -d ${OUTPUT_AUX_DEV}
-		pwm min -c 3 -p p:PWM_AUX_MIN3 -d ${OUTPUT_AUX_DEV}
-		pwm min -c 4 -p p:PWM_AUX_MIN4 -d ${OUTPUT_AUX_DEV}
-		pwm min -c 5 -p p:PWM_AUX_MIN5 -d ${OUTPUT_AUX_DEV}
-		pwm min -c 6 -p p:PWM_AUX_MIN6 -d ${OUTPUT_AUX_DEV}
-		pwm min -c 7 -p p:PWM_AUX_MIN7 -d ${OUTPUT_AUX_DEV}
-		pwm min -c 8 -p p:PWM_AUX_MIN8 -d ${OUTPUT_AUX_DEV}
-
-		#
-		# Per channel max settings.
-		#
-		pwm max -c 1 -p p:PWM_AUX_MAX1 -d ${OUTPUT_AUX_DEV}
-		pwm max -c 2 -p p:PWM_AUX_MAX2 -d ${OUTPUT_AUX_DEV}
-		pwm max -c 3 -p p:PWM_AUX_MAX3 -d ${OUTPUT_AUX_DEV}
-		pwm max -c 4 -p p:PWM_AUX_MAX4 -d ${OUTPUT_AUX_DEV}
-		pwm max -c 5 -p p:PWM_AUX_MAX5 -d ${OUTPUT_AUX_DEV}
-		pwm max -c 6 -p p:PWM_AUX_MAX6 -d ${OUTPUT_AUX_DEV}
-		pwm max -c 7 -p p:PWM_AUX_MAX7 -d ${OUTPUT_AUX_DEV}
-		pwm max -c 8 -p p:PWM_AUX_MAX8 -d ${OUTPUT_AUX_DEV}
-
-		if [ $FAILSAFE_AUX != none ]
-		then
-			pwm failsafe -c ${PWM_AUX_OUT} -p ${FAILSAFE} -d ${OUTPUT_AUX_DEV}
+			#
+			# Per channel failsafe settings.
+			#
+			pwm failsafe -c 1 -p p:PWM_AUX_FAIL1 -d ${OUTPUT_AUX_DEV}
+			pwm failsafe -c 2 -p p:PWM_AUX_FAIL2 -d ${OUTPUT_AUX_DEV}
+			pwm failsafe -c 3 -p p:PWM_AUX_FAIL3 -d ${OUTPUT_AUX_DEV}
+			pwm failsafe -c 4 -p p:PWM_AUX_FAIL4 -d ${OUTPUT_AUX_DEV}
+			pwm failsafe -c 5 -p p:PWM_AUX_FAIL5 -d ${OUTPUT_AUX_DEV}
+			pwm failsafe -c 6 -p p:PWM_AUX_FAIL6 -d ${OUTPUT_AUX_DEV}
+			pwm failsafe -c 7 -p p:PWM_AUX_FAIL7 -d ${OUTPUT_AUX_DEV}
+			pwm failsafe -c 8 -p p:PWM_AUX_FAIL8 -d ${OUTPUT_AUX_DEV}
 		fi
-
-		#
-		# Per channel failsafe settings.
-		#
-		pwm failsafe -c 1 -p p:PWM_AUX_FAIL1 -d ${OUTPUT_AUX_DEV}
-		pwm failsafe -c 2 -p p:PWM_AUX_FAIL2 -d ${OUTPUT_AUX_DEV}
-		pwm failsafe -c 3 -p p:PWM_AUX_FAIL3 -d ${OUTPUT_AUX_DEV}
-		pwm failsafe -c 4 -p p:PWM_AUX_FAIL4 -d ${OUTPUT_AUX_DEV}
-		pwm failsafe -c 5 -p p:PWM_AUX_FAIL5 -d ${OUTPUT_AUX_DEV}
-		pwm failsafe -c 6 -p p:PWM_AUX_FAIL6 -d ${OUTPUT_AUX_DEV}
-		pwm failsafe -c 7 -p p:PWM_AUX_FAIL7 -d ${OUTPUT_AUX_DEV}
-		pwm failsafe -c 8 -p p:PWM_AUX_FAIL8 -d ${OUTPUT_AUX_DEV}
 	fi
 fi
 
@@ -386,6 +401,7 @@ then
 	pwm failsafe -c 8 -p p:PWM_MAIN_FAIL8
 fi
 
+unset FMU_CMD
 unset MIXER_AUX_FILE
 unset OUTPUT_AUX_DEV
 unset OUTPUT_DEV

ROMFS/px4fmu_common/init.d/rcS

@@ -27,7 +27,6 @@ set FAILSAFE none
 set FAILSAFE_AUX none
 set FCONFIG /fs/microsd/etc/config.txt
 set FEXTRAS /fs/microsd/etc/extras.txt
-set FMU_ARGS ""
 set FMU_MODE pwm
 set FRC /fs/microsd/etc/rc.txt
 set IOFW "/etc/extras/px4_io-v2_default.bin"
@@ -521,7 +520,6 @@ unset FAILSAFE
 unset FAILSAFE_AUX
 unset FCONFIG
 unset FEXTRAS
-unset FMU_ARGS
 unset FMU_MODE
 unset FRC
 unset IO_PRESENT

boards/av/x-v1/src/board_config.h

@@ -328,6 +328,8 @@
 
 #define BOARD_ENABLE_CONSOLE_BUFFER
 
+#define BOARD_NUM_IO_TIMERS 5
+
 __BEGIN_DECLS
 
 /****************************************************************************************************

boards/holybro/kakutef7/default.cmake

@@ -19,6 +19,7 @@ px4_add_board(
 	DRIVERS
 		adc
 		barometer/bmp280
+		dshot
 		gps
 		imu/mpu6000
 		magnetometer

boards/holybro/kakutef7/init/rc.board_extras

@@ -8,5 +8,6 @@ then
 	atxxxx start
 fi
 
-
+# DShot telemetry is always on UART7
+dshot telemetry /dev/ttyS5
 

boards/holybro/kakutef7/nuttx-config/include/board.h

@@ -270,11 +270,6 @@
 #define GPIO_UART7_RX    GPIO_UART7_RX_1    /* PE7 */
 #define GPIO_UART7_TX    GPIO_UART7_TX_1    /* PE8 */
 
-/* UART RX DMA configurations */
-
-#define DMAMAP_USART1_RX DMAMAP_USART1_RX_2
-#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
-
 /* SPI
  * SPI1 SD Card
  * SPI2 is OSD AT7456E

boards/holybro/kakutef7/nuttx-config/nsh/defconfig

@@ -1,3 +1,10 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
 # CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
@@ -156,6 +163,7 @@ CONFIG_STM32F7_BBSRAM=y
 CONFIG_STM32F7_BBSRAM_FILES=5
 CONFIG_STM32F7_BKPSRAM=y
 CONFIG_STM32F7_DMA1=y
+CONFIG_STM32F7_DMA2=y
 CONFIG_STM32F7_I2C1=y
 CONFIG_STM32F7_I2C_DYNTIMEO=y
 CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
@@ -191,7 +199,6 @@ CONFIG_TASK_NAME_SIZE=24
 CONFIG_TIME_EXTENDED=y
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_RXDMA=y
 CONFIG_UART4_TXBUFSIZE=1500
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_RXBUFSIZE=600

boards/holybro/kakutef7/src/board_config.h

@@ -216,6 +216,8 @@
 
 #define BOARD_ENABLE_CONSOLE_BUFFER
 
+#define BOARD_NUM_IO_TIMERS 4
+
 __BEGIN_DECLS
 
 /****************************************************************************************************