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Added demag and stall events to edt status frame
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Fixed demag osd_warning

Added fix for incorrect RPM debug values writtings in debug buffer

Updated dshot status frame

Added debug capabilities to dshot edt frames. DBG3 edt frame becomes demag metric frame

DSHOT debug data packs 5 signals in a value. Added command to check debug data

Added retries to activate EDT, because sometimes EDT is not successfully activated

Added debug modes to be in sync between betaflight, betaflight-configurator and blackbox-explorer. Some of others will be deleted on future merge

Added dshot_edt to MSP_MOTOR_CONFIG frame.
Added dshot_edt setting to MSP_SET_MOTOR_CONFIG frame

Removed debugging function added to cli.
Fixed automated unit tests

Added max demag metric warning to osd warnings

Improved wording to make EDT firmware/hardware agnostic

Merged to master

Updated debug.c that was left behind during rebasing

Fixed compilation bug.
Reduce EDT enable commands to 1.
Replaced literal by identifier to simplify edt enable response understanding

Updated esc osd warnings to only notify errors. Warnings and alerts are stored in blackbox.

Fixed dshot bitbang module for AT32 targets

Fixed review findings
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@damosvil
damosvil committed Dec 13, 2023
1 parent 03495f9 commit 5206a02
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Showing 10 changed files with 189 additions and 70 deletions.
7 changes: 7 additions & 0 deletions src/main/build/debug.c
View file
Expand Up @@ -117,4 +117,11 @@ const char * const debugModeNames[DEBUG_COUNT] = {
"MAG_CALIB",
"MAG_TASK_RATE",
"EZLANDING",
"DSHOT_STATUS_N_TEMPERATURE",
"DSHOT_STATUS_N_VOLTAGE",
"DSHOT_STATUS_N_CURRENT",
"DSHOT_STATUS_N_DEBUG1",
"DSHOT_STATUS_N_DEBUG2",
"DSHOT_STATUS_N_STRESS_LVL",
"DSHOT_STATUS_N_ERPM_FRACTION_18",
};
7 changes: 7 additions & 0 deletions src/main/build/debug.h
View file
Expand Up @@ -119,6 +119,13 @@ typedef enum {
DEBUG_MAG_CALIB,
DEBUG_MAG_TASK_RATE,
DEBUG_EZLANDING,
DEBUG_DSHOT_STATUS_N_TEMPERATURE,
DEBUG_DSHOT_STATUS_N_VOLTAGE,
DEBUG_DSHOT_STATUS_N_CURRENT,
DEBUG_DSHOT_STATUS_N_DEBUG1,
DEBUG_DSHOT_STATUS_N_DEBUG2,
DEBUG_DSHOT_STATUS_N_STRESS_LVL,
DEBUG_DSHOT_STATUS_N_ERPM_FRACTION_18,
DEBUG_COUNT
} debugType_e;

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12 changes: 6 additions & 6 deletions src/main/cli/cli.c
View file
Expand Up @@ -6111,10 +6111,10 @@ static void cliDshotTelemetryInfo(const char *cmdName, char *cmdline)
cliPrintLinefeed();

#ifdef USE_DSHOT_TELEMETRY_STATS
cliPrintLine("Motor Type eRPM RPM Hz Invalid TEMP VCC CURR ST/EV DBG1 DBG2 DBG3");
cliPrintLine("Motor Type eRPM RPM Hz Invalid TEMP VCC CURR STAT DBG1 DBG2 DMET");
cliPrintLine("===== ====== ====== ====== ====== ======= ====== ====== ====== ====== ====== ====== ======");
#else
cliPrintLine("Motor Type eRPM RPM Hz TEMP VCC CURR ST/EV DBG1 DBG2 DBG3");
cliPrintLine("Motor Type eRPM RPM Hz TEMP VCC CURR STAT DBG1 DBG2 DMET");
cliPrintLine("===== ====== ====== ====== ====== ====== ====== ====== ====== ====== ====== ======");
#endif

Expand All @@ -6128,7 +6128,7 @@ static void cliDshotTelemetryInfo(const char *cmdName, char *cmdline)
((dshotTelemetryState.motorState[i].telemetryTypes & (1 << DSHOT_TELEMETRY_TYPE_TEMPERATURE)) ? 'T' : '-'),
((dshotTelemetryState.motorState[i].telemetryTypes & (1 << DSHOT_TELEMETRY_TYPE_VOLTAGE)) ? 'V' : '-'),
((dshotTelemetryState.motorState[i].telemetryTypes & (1 << DSHOT_TELEMETRY_TYPE_CURRENT)) ? 'C' : '-'),
((dshotTelemetryState.motorState[i].telemetryTypes & (1 << DSHOT_TELEMETRY_TYPE_STATE_EVENTS)) ? 'S' : '-'),
((dshotTelemetryState.motorState[i].telemetryTypes & (1 << DSHOT_TELEMETRY_TYPE_STATUS)) ? 'S' : '-'),
erpm * 100, rpm, rpm / 60);

#ifdef USE_DSHOT_TELEMETRY_STATS
Expand All @@ -6140,15 +6140,15 @@ static void cliDshotTelemetryInfo(const char *cmdName, char *cmdline)
}
#endif

cliPrintLinef(" %6d %3d.%02d %6d %6d %6d %6d %6d",
cliPrintLinef(" %6d %3d.%02d %6d %6x %6d %6d %6d",
dshotTelemetryState.motorState[i].telemetryData[DSHOT_TELEMETRY_TYPE_TEMPERATURE],
dshotTelemetryState.motorState[i].telemetryData[DSHOT_TELEMETRY_TYPE_VOLTAGE] / 4,
25 * (dshotTelemetryState.motorState[i].telemetryData[DSHOT_TELEMETRY_TYPE_VOLTAGE] % 4),
dshotTelemetryState.motorState[i].telemetryData[DSHOT_TELEMETRY_TYPE_CURRENT],
dshotTelemetryState.motorState[i].telemetryData[DSHOT_TELEMETRY_TYPE_STATE_EVENTS],
dshotTelemetryState.motorState[i].telemetryData[DSHOT_TELEMETRY_TYPE_STATUS],
dshotTelemetryState.motorState[i].telemetryData[DSHOT_TELEMETRY_TYPE_DEBUG1],
dshotTelemetryState.motorState[i].telemetryData[DSHOT_TELEMETRY_TYPE_DEBUG2],
dshotTelemetryState.motorState[i].telemetryData[DSHOT_TELEMETRY_TYPE_DEBUG3]
dshotTelemetryState.motorState[i].telemetryData[DSHOT_TELEMETRY_TYPE_STRESS_LEVEL]
);
}
cliPrintLinefeed();
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4 changes: 2 additions & 2 deletions src/main/drivers/at32/dshot_bitbang.c
View file
Expand Up @@ -526,8 +526,8 @@ static bool bbDecodeTelemetry(void)

if (rawValue != DSHOT_TELEMETRY_INVALID) {
// Check EDT enable or store raw value
if ((rawValue == 0x0E00) && (dshotCommandGetCurrent(motorIndex) == DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE)) {
dshotTelemetryState.motorState[motorIndex].telemetryTypes = 1 << DSHOT_TELEMETRY_TYPE_STATE_EVENTS;
if ((rawValue == DSHOT_TELEMETRY_ENABLE_RESPONSE) && (dshotCommandGetCurrent(motorIndex) == DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE)) {
dshotTelemetryState.motorState[motorIndex].telemetryTypes = 1 << DSHOT_TELEMETRY_TYPE_STATUS;
} else {
dshotTelemetryState.motorState[motorIndex].rawValue = rawValue;
}
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104 changes: 73 additions & 31 deletions src/main/drivers/dshot.c
View file
Expand Up @@ -33,6 +33,7 @@

#include "build/debug.h"
#include "build/atomic.h"
#include "build/debug.h"

#include "common/filter.h"
#include "common/maths.h"
Expand All @@ -53,7 +54,9 @@

#include "dshot.h"

#define ERPM_PER_LSB 100.0f
#define ERPM_PER_LSB (100.0f)
#define SHIFT_BYTE (8u)
#define MULTIPLE_RPM300_ERPM_FRACTION (18u)

void dshotInitEndpoints(const motorConfig_t *motorConfig, float outputLimit, float *outputLow, float *outputHigh, float *disarm, float *deadbandMotor3dHigh, float *deadbandMotor3dLow)
{
Expand Down Expand Up @@ -183,86 +186,125 @@ static uint32_t dshot_decode_eRPM_telemetry_value(uint16_t value)

static void dshot_decode_telemetry_value(uint8_t motorIndex, uint32_t *pDecoded, dshotTelemetryType_t *pType)
{
uint16_t value = dshotTelemetryState.motorState[motorIndex].rawValue;
const unsigned motorCount = motorDeviceCount();
uint16_t dshotDebugHighByte;
const uint16_t value = dshotTelemetryState.motorState[motorIndex].rawValue;

if (dshotTelemetryState.motorState[motorIndex].telemetryTypes == DSHOT_NORMAL_TELEMETRY_MASK) { /* Check DSHOT_TELEMETRY_TYPE_eRPM mask */
// Decode eRPM telemetry
*pDecoded = dshot_decode_eRPM_telemetry_value(value);

// Update debug buffer
if (motorIndex < motorCount && motorIndex < DEBUG16_VALUE_COUNT) {
// Update debug buffer (motorIndex < motorCount guaranteed by caller)
if (motorIndex < DEBUG16_VALUE_COUNT) {
DEBUG_SET(DEBUG_DSHOT_RPM_TELEMETRY, motorIndex, *pDecoded);
}

// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_eRPM;
} else {
// Decode Extended DSHOT telemetry
switch (value & 0x0f00) {
switch (value & DSHOT_TELEMETRY_RANGE_MASK) {

case 0x0200:
// Temperature range (in degree Celsius, just like Blheli_32 and KISS)
*pDecoded = value & 0x00ff;
case DSHOT_TELEMETRY_RANGE_TEMPERATURE:
// Temperature frame (in degree Celsius, just like Blheli_32 and KISS)
*pDecoded = value & DSHOT_TELEMETRY_VALUE_MASK;

// Update debug buffer (motorIndex < motorCount guaranteed by caller)
if (motorIndex < DEBUG16_VALUE_COUNT) {
dshotDebugHighByte = dshotTelemetryState.motorState[motorIndex].telemetryData[DSHOT_TELEMETRY_TYPE_STATUS] << SHIFT_BYTE;
DEBUG_SET(DEBUG_DSHOT_STATUS_N_TEMPERATURE, motorIndex, dshotDebugHighByte | *pDecoded);
}

// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_TEMPERATURE;
break;

case 0x0400:
// Voltage range (0-63,75V step 0,25V)
*pDecoded = value & 0x00ff;
case DSHOT_TELEMETRY_RANGE_VOLTAGE:
// Voltage frame (0-63,75V step 0,25V)
*pDecoded = value & DSHOT_TELEMETRY_VALUE_MASK;

// Update debug buffer (motorIndex < motorCount guaranteed by caller)
if (motorIndex < DEBUG16_VALUE_COUNT) {
dshotDebugHighByte = dshotTelemetryState.motorState[motorIndex].telemetryData[DSHOT_TELEMETRY_TYPE_STATUS] << SHIFT_BYTE;
DEBUG_SET(DEBUG_DSHOT_STATUS_N_VOLTAGE, motorIndex, dshotDebugHighByte | *pDecoded);
}

// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_VOLTAGE;
break;

case 0x0600:
// Current range (0-255A step 1A)
*pDecoded = value & 0x00ff;
case DSHOT_TELEMETRY_RANGE_CURRENT:
// Current frame (0-255A step 1A)
*pDecoded = value & DSHOT_TELEMETRY_VALUE_MASK;

// Update debug buffer (motorIndex < motorCount guaranteed by caller)
if (motorIndex < DEBUG16_VALUE_COUNT) {
dshotDebugHighByte = dshotTelemetryState.motorState[motorIndex].telemetryData[DSHOT_TELEMETRY_TYPE_STATUS] << SHIFT_BYTE;
DEBUG_SET(DEBUG_DSHOT_STATUS_N_CURRENT, motorIndex, dshotDebugHighByte | *pDecoded);
}

// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_CURRENT;
break;

case 0x0800:
// Debug 1 value
*pDecoded = value & 0x00ff;
case DSHOT_TELEMETRY_RANGE_DEBUG1:
// Debug 1 frame
*pDecoded = value & DSHOT_TELEMETRY_VALUE_MASK;

// Update debug buffer (motorIndex < motorCount guaranteed by caller)
if (motorIndex < DEBUG16_VALUE_COUNT) {
dshotDebugHighByte = dshotTelemetryState.motorState[motorIndex].telemetryData[DSHOT_TELEMETRY_TYPE_STATUS] << SHIFT_BYTE;
DEBUG_SET(DEBUG_DSHOT_STATUS_N_DEBUG1, motorIndex, dshotDebugHighByte | *pDecoded);
}

// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_DEBUG1;
break;

case 0x0A00:
// Debug 2 value
*pDecoded = value & 0x00ff;
case DSHOT_TELEMETRY_RANGE_DEBUG2:
// Debug 2 frame
*pDecoded = value & DSHOT_TELEMETRY_VALUE_MASK;

// Update debug buffer (motorIndex < motorCount guaranteed by caller)
if (motorIndex < DEBUG16_VALUE_COUNT) {
dshotDebugHighByte = dshotTelemetryState.motorState[motorIndex].telemetryData[DSHOT_TELEMETRY_TYPE_STATUS] << SHIFT_BYTE;
DEBUG_SET(DEBUG_DSHOT_STATUS_N_DEBUG2, motorIndex, dshotDebugHighByte | *pDecoded);
}

// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_DEBUG2;
break;

case 0x0C00:
// Debug 3 value
*pDecoded = value & 0x00ff;
case DSHOT_TELEMETRY_RANGE_STRESS_LEVEL:
// Stress level frame
*pDecoded = value & DSHOT_TELEMETRY_VALUE_MASK;

// Update debug buffer (motorIndex < motorCount guaranteed by caller)
if (motorIndex < DEBUG16_VALUE_COUNT) {
dshotDebugHighByte = dshotTelemetryState.motorState[motorIndex].telemetryData[DSHOT_TELEMETRY_TYPE_STATUS] << SHIFT_BYTE;
DEBUG_SET(DEBUG_DSHOT_STATUS_N_STRESS_LVL, motorIndex, dshotDebugHighByte | *pDecoded);
}

// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_DEBUG3;
*pType = DSHOT_TELEMETRY_TYPE_STRESS_LEVEL;
break;

case 0x0E00:
// State / events
*pDecoded = value & 0x00ff;
case DSHOT_TELEMETRY_RANGE_STATUS:
// State / events frame
*pDecoded = value & DSHOT_TELEMETRY_VALUE_MASK;

// Set telemetry type
*pType = DSHOT_TELEMETRY_TYPE_STATE_EVENTS;
*pType = DSHOT_TELEMETRY_TYPE_STATUS;
break;

default:
// Decode as eRPM
*pDecoded = dshot_decode_eRPM_telemetry_value(value);

// Update debug buffer
if (motorIndex < motorCount && motorIndex < DEBUG16_VALUE_COUNT) {
// Update debug buffer (motorIndex < motorCount guaranteed by caller)
if (motorIndex < DEBUG16_VALUE_COUNT) {
// In this case two debug options to maximize logging info
dshotDebugHighByte = dshotTelemetryState.motorState[motorIndex].telemetryData[DSHOT_TELEMETRY_TYPE_STATUS] << SHIFT_BYTE;
DEBUG_SET(DEBUG_DSHOT_STATUS_N_ERPM_FRACTION_18, motorIndex, dshotDebugHighByte | ((*pDecoded) / MULTIPLE_RPM300_ERPM_FRACTION));
DEBUG_SET(DEBUG_DSHOT_RPM_TELEMETRY, motorIndex, *pDecoded);
}

Expand Down
44 changes: 31 additions & 13 deletions src/main/drivers/dshot.h
View file
Expand Up @@ -57,25 +57,43 @@ typedef struct dshotTelemetryQuality_s {
extern dshotTelemetryQuality_t dshotTelemetryQuality[MAX_SUPPORTED_MOTORS];
#endif // USE_DSHOT_TELEMETRY_STATS

#define DSHOT_NORMAL_TELEMETRY_MASK (1 << DSHOT_TELEMETRY_TYPE_eRPM)
#define DSHOT_EXTENDED_TELEMETRY_MASK (~DSHOT_NORMAL_TELEMETRY_MASK)
#define DSHOT_NORMAL_TELEMETRY_MASK (1 << DSHOT_TELEMETRY_TYPE_eRPM)
#define DSHOT_EXTENDED_TELEMETRY_MASK (~DSHOT_NORMAL_TELEMETRY_MASK)
#define DSHOT_TELEMETRY_RANGE_MASK (0x0f00u)
#define DSHOT_TELEMETRY_VALUE_MASK (0x00ffu)
#define DSHOT_TELEMETRY_STATUS_ALERT_EVENT_MASK (0x80u)
#define DSHOT_TELEMETRY_STATUS_WARNING_EVENT_MASK (0x40u)
#define DSHOT_TELEMETRY_STATUS_ERROR_EVENT_MASK (0x20u)
#define DSHOT_TELEMETRY_STATUS_MAX_STRESS_LVL_MASK (0x0Fu)
#define DSHOT_MAX_STRESS_LVL_WARNING_THRESHOLD (9u)
#define DSHOT_TELEMETRY_ENABLE_RESPONSE (DSHOT_TELEMETRY_RANGE_STATUS)

typedef enum dshotTelemetryType_e {
DSHOT_TELEMETRY_TYPE_eRPM = 0,
DSHOT_TELEMETRY_TYPE_TEMPERATURE = 1,
DSHOT_TELEMETRY_TYPE_VOLTAGE = 2,
DSHOT_TELEMETRY_TYPE_CURRENT = 3,
DSHOT_TELEMETRY_TYPE_DEBUG1 = 4,
DSHOT_TELEMETRY_TYPE_DEBUG2 = 5,
DSHOT_TELEMETRY_TYPE_DEBUG3 = 6,
DSHOT_TELEMETRY_TYPE_STATE_EVENTS = 7,
DSHOT_TELEMETRY_TYPE_eRPM,
DSHOT_TELEMETRY_TYPE_TEMPERATURE,
DSHOT_TELEMETRY_TYPE_VOLTAGE,
DSHOT_TELEMETRY_TYPE_CURRENT,
DSHOT_TELEMETRY_TYPE_DEBUG1,
DSHOT_TELEMETRY_TYPE_DEBUG2,
DSHOT_TELEMETRY_TYPE_STRESS_LEVEL,
DSHOT_TELEMETRY_TYPE_STATUS,
DSHOT_TELEMETRY_TYPE_COUNT
} dshotTelemetryType_t;

typedef enum dshotTelemetryRange_e {
DSHOT_TELEMETRY_RANGE_TEMPERATURE = 0x200,
DSHOT_TELEMETRY_RANGE_VOLTAGE = 0x400,
DSHOT_TELEMETRY_RANGE_CURRENT = 0x600,
DSHOT_TELEMETRY_RANGE_DEBUG1 = 0x800,
DSHOT_TELEMETRY_RANGE_DEBUG2 = 0xA00,
DSHOT_TELEMETRY_RANGE_STRESS_LEVEL = 0xC00,
DSHOT_TELEMETRY_RANGE_STATUS = 0xE00
} dshotTelemetryRange_t;

typedef enum dshotRawValueState_e {
DSHOT_RAW_VALUE_STATE_INVALID = 0,
DSHOT_RAW_VALUE_STATE_NOT_PROCESSED = 1,
DSHOT_RAW_VALUE_STATE_PROCESSED = 2,
DSHOT_RAW_VALUE_STATE_INVALID,
DSHOT_RAW_VALUE_STATE_NOT_PROCESSED,
DSHOT_RAW_VALUE_STATE_PROCESSED,
DSHOT_RAW_VALUE_STATE_COUNT
} dshotRawValueState_t;

Expand Down
4 changes: 2 additions & 2 deletions src/main/drivers/pwm_output_dshot_shared.c
View file
Expand Up @@ -239,8 +239,8 @@ FAST_CODE_NOINLINE bool pwmTelemetryDecode(void)

if (rawValue != DSHOT_TELEMETRY_INVALID) {
// Check EDT enable or store raw value
if ((rawValue == 0x0E00) && (dshotCommandGetCurrent(i) == DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE)) {
dshotTelemetryState.motorState[i].telemetryTypes = 1 << DSHOT_TELEMETRY_TYPE_STATE_EVENTS;
if ((rawValue == DSHOT_TELEMETRY_ENABLE_RESPONSE) && (dshotCommandGetCurrent(i) == DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE)) {
dshotTelemetryState.motorState[i].telemetryTypes = 1 << DSHOT_TELEMETRY_TYPE_STATUS;
} else {
dshotTelemetryState.motorState[i].rawValue = rawValue;
}
Expand Down
4 changes: 2 additions & 2 deletions src/main/drivers/stm32/dshot_bitbang.c
View file
Expand Up @@ -581,8 +581,8 @@ static bool bbDecodeTelemetry(void)

if (rawValue != DSHOT_TELEMETRY_INVALID) {
// Check EDT enable or store raw value
if ((rawValue == 0x0E00) && (dshotCommandGetCurrent(motorIndex) == DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE)) {
dshotTelemetryState.motorState[motorIndex].telemetryTypes = 1 << DSHOT_TELEMETRY_TYPE_STATE_EVENTS;
if ((rawValue == DSHOT_TELEMETRY_ENABLE_RESPONSE) && (dshotCommandGetCurrent(motorIndex) == DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE)) {
dshotTelemetryState.motorState[motorIndex].telemetryTypes = 1 << DSHOT_TELEMETRY_TYPE_STATUS;
} else {
dshotTelemetryState.motorState[motorIndex].rawValue = rawValue;
}
Expand Down
20 changes: 20 additions & 0 deletions src/main/msp/msp.c
View file
Expand Up @@ -1449,6 +1449,8 @@ case MSP_NAME:
// API 1.42
sbufWriteU8(dst, getMotorCount());
sbufWriteU8(dst, motorConfig()->motorPoleCount);

// API 1.44
#ifdef USE_DSHOT_TELEMETRY
sbufWriteU8(dst, motorConfig()->dev.useDshotTelemetry);
#else
Expand All @@ -1460,6 +1462,13 @@ case MSP_NAME:
#else
sbufWriteU8(dst, 0);
#endif

// API 1.46
#ifdef USE_DSHOT_TELEMETRY
sbufWriteU8(dst, motorConfig()->dev.useDshotEdt);
#else
sbufWriteU8(dst, 0);
#endif
break;

// Deprecated in favor of MSP_MOTOR_TELEMETY as of API version 1.42
Expand Down Expand Up @@ -2827,12 +2836,23 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
// version 1.42
if (sbufBytesRemaining(src) >= 2) {
motorConfigMutable()->motorPoleCount = sbufReadU8(src);

// version 1.44
#if defined(USE_DSHOT_TELEMETRY)
motorConfigMutable()->dev.useDshotTelemetry = sbufReadU8(src);
#else
sbufReadU8(src);
#endif
}

// Version 1.46
if (sbufBytesRemaining(src) >= 1) {
#if defined(USE_DSHOT_TELEMETRY)
motorConfigMutable()->dev.useDshotEdt = sbufReadU8(src);
#else
sbufReadU8(src);
#endif
}
break;

#ifdef USE_GPS
Expand Down

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