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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
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@damosvil
damosvil committed Jan 29, 2023
1 parent 4605309 commit d8be00f
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Showing 11 changed files with 163 additions and 45 deletions.
8 changes: 8 additions & 0 deletions src/main/build/debug.c
View file
Expand Up @@ -107,5 +107,13 @@ const char * const debugModeNames[DEBUG_COUNT] = {
"ATTITUDE",
"VTX_MSP",
"GPS_DOP",
"ANGLEMODE",
"FAILSAFE",
"DSHOT_STATUS_N_TEMPERATURE",
"DSHOT_STATUS_N_VOLTAGE",
"DSHOT_STATUS_N_CURRENT",
"DSHOT_STATUS_N_DEBUG1",
"DSHOT_STATUS_N_DEBUG2",
"DSHOT_STATUS_N_DEMAG_METRIC",
"DSHOT_STATUS_N_ERPM_FRACTION",
};
8 changes: 8 additions & 0 deletions src/main/build/debug.h
View file
Expand Up @@ -105,7 +105,15 @@ typedef enum {
DEBUG_ATTITUDE,
DEBUG_VTX_MSP,
DEBUG_GPS_DOP,
DEBUG_ANGLEMODE,
DEBUG_FAILSAFE,
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_DEMAG_METRIC,
DEBUG_DSHOT_STATUS_N_ERPM_FRACTION_18,
DEBUG_COUNT
} debugType_e;

Expand Down
22 changes: 16 additions & 6 deletions src/main/cli/cli.c
View file
Expand Up @@ -6126,10 +6126,10 @@ 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 @@ -6143,7 +6143,7 @@ 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 @@ -6155,15 +6155,15 @@ 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_DEMAG_METRIC]
);
}
cliPrintLinefeed();
Expand Down Expand Up @@ -6395,6 +6395,15 @@ static void printConfig(const char *cmdName, char *cmdline, bool doDiff)
restoreConfigs(0);
}

static void showDebugInfo(const char *cmdName, char *cmdline)
{
(void)cmdName;
(void)cmdline;
cliPrintLinef("Mode: %s", debugModeNames[debugMode]);
cliPrintLinef("Dec: %d %d %d %d", debug[0], debug[1], debug[2], debug[3]);
cliPrintLinef("Hex: %04X %04X %04X %04X", debug[0], debug[1], debug[2], debug[3]);
}

static void cliDump(const char *cmdName, char *cmdline)
{
printConfig(cmdName, cmdline, false);
Expand Down Expand Up @@ -6625,6 +6634,7 @@ const clicmd_t cmdTable[] = {
CLI_COMMAND_DEF("vtx_info", "vtx power config dump", NULL, cliVtxInfo),
CLI_COMMAND_DEF("vtxtable", "vtx frequency table", "<band> <bandname> <bandletter> [FACTORY|CUSTOM] <freq> ... <freq>\r\n", cliVtxTable),
#endif
CLI_COMMAND_DEF("debug_info", "show debug info", NULL, showDebugInfo),
};

static void cliHelp(const char *cmdName, char *cmdline)
Expand Down
81 changes: 63 additions & 18 deletions src/main/drivers/dshot.c
View file
Expand Up @@ -31,6 +31,7 @@

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

#include "common/maths.h"

Expand All @@ -47,6 +48,10 @@
#include "rx/rx.h"
#include "dshot.h"

#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)
{
float outputLimitOffset = DSHOT_RANGE * (1 - outputLimit);
Expand Down Expand Up @@ -154,6 +159,7 @@ 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 dshotDebugHighByte;
uint16_t value = dshotTelemetryState.motorState[motorIndex].rawValue;

if (dshotTelemetryState.motorState[motorIndex].telemetryTypes == DSHOT_NORMAL_TELEMETRY_MASK) { /* Check DSHOT_TELEMETRY_TYPE_eRPM mask */
Expand All @@ -169,62 +175,98 @@ static void dshot_decode_telemetry_value(uint8_t motorIndex, uint32_t *pDecoded,
*pType = DSHOT_TELEMETRY_TYPE_eRPM;
} else {
// Decode Extended DSHOT telemetry
switch (value & 0x0f00) {
switch (value & DSHOT_TELEMETRY_RANGE_MASK) {

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

// Update debug buffer
if (motorIndex < 4) {
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:
case DSHOT_TELEMETRY_RANGE_VOLTAGE:
// Voltage range (0-63,75V step 0,25V)
*pDecoded = value & 0x00ff;
*pDecoded = value & DSHOT_TELEMETRY_VALUE_MASK;

// Update debug buffer
if (motorIndex < 4) {
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:
case DSHOT_TELEMETRY_RANGE_CURRENT:
// Current range (0-255A step 1A)
*pDecoded = value & 0x00ff;
*pDecoded = value & DSHOT_TELEMETRY_VALUE_MASK;

// Update debug buffer
if (motorIndex < 4) {
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:
case DSHOT_TELEMETRY_RANGE_DEBUG1:
// Debug 1 value
*pDecoded = value & 0x00ff;
*pDecoded = value & DSHOT_TELEMETRY_VALUE_MASK;

// Update debug buffer
if (motorIndex < 4) {
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:
case DSHOT_TELEMETRY_RANGE_DEBUG2:
// Debug 2 value
*pDecoded = value & 0x00ff;
*pDecoded = value & DSHOT_TELEMETRY_VALUE_MASK;

// Update debug buffer
if (motorIndex < 4) {
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_DEMAG_METRIC:
// Demag metric value
*pDecoded = value & DSHOT_TELEMETRY_VALUE_MASK;

// Update debug buffer
if (motorIndex < 4) {
dshotDebugHighByte = dshotTelemetryState.motorState[motorIndex].telemetryData[DSHOT_TELEMETRY_TYPE_STATUS] << SHIFT_BYTE;
DEBUG_SET(DEBUG_DSHOT_STATUS_N_DEMAG_METRIC, motorIndex, dshotDebugHighByte | *pDecoded);
}

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

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

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

default:
Expand All @@ -233,6 +275,9 @@ static void dshot_decode_telemetry_value(uint8_t motorIndex, uint32_t *pDecoded,

// Update debug buffer
if (motorIndex < 4) {
// 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
24 changes: 20 additions & 4 deletions src/main/drivers/dshot.h
View file
Expand Up @@ -54,8 +54,14 @@ 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_DEMAG_EVENT_MASK (0x80u)
#define DSHOT_TELEMETRY_STATUS_DESYNC_EVENT_MASK (0x40u)
#define DSHOT_TELEMETRY_STATUS_STALL_EVENT_MASK (0x20u)
#define DSHOT_TELEMETRY_STATUS_DEMAG_METRIC_MASK (0x0Fu)

typedef enum dshotTelemetryType_e {
DSHOT_TELEMETRY_TYPE_eRPM = 0,
Expand All @@ -64,11 +70,21 @@ typedef enum dshotTelemetryType_e {
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_DEMAG_METRIC = 6,
DSHOT_TELEMETRY_TYPE_STATUS = 7,
DSHOT_TELEMETRY_TYPE_COUNT = 8
} 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_DEMAG_METRIC = 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,
Expand Down
2 changes: 1 addition & 1 deletion src/main/drivers/dshot_bitbang.c
View file
Expand Up @@ -541,7 +541,7 @@ static bool bbUpdateStart(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;
dshotTelemetryState.motorState[motorIndex].telemetryTypes = 1 << DSHOT_TELEMETRY_TYPE_STATUS;
} else {
dshotTelemetryState.motorState[motorIndex].rawValue = rawValue;
}
Expand Down
2 changes: 1 addition & 1 deletion src/main/drivers/pwm_output_dshot_shared.c
View file
Expand Up @@ -215,7 +215,7 @@ FAST_CODE_NOINLINE bool pwmStartDshotMotorUpdate(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;
dshotTelemetryState.motorState[i].telemetryTypes = 1 << DSHOT_TELEMETRY_TYPE_STATUS;
} else {
dshotTelemetryState.motorState[i].rawValue = rawValue;
}
Expand Down
2 changes: 2 additions & 0 deletions src/main/fc/core.c
View file
Expand Up @@ -517,6 +517,8 @@ void tryArm(void)
dshotCleanTelemetryData();
if (motorConfig()->dev.useDshotEdt) {
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE, DSHOT_CMD_TYPE_INLINE);
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE, DSHOT_CMD_TYPE_INLINE);
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE, DSHOT_CMD_TYPE_INLINE);
}
}
#endif
Expand Down
22 changes: 21 additions & 1 deletion src/main/msp/msp.c
View file
Expand Up @@ -1455,6 +1455,8 @@ 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 @@ -1466,6 +1468,13 @@ 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 @@ -2783,14 +2792,25 @@ static mspResult_e mspProcessInCommand(mspDescriptor_t srcDesc, int16_t cmdMSP,
motorConfigMutable()->mincommand = sbufReadU16(src);

// version 1.42
if (sbufBytesRemaining(src) >= 2) {
if (sbufBytesRemaining(src) > 1) {
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) > 0) {
#if defined(USE_DSHOT_TELEMETRY)
motorConfigMutable()->dev.useDshotEdt = sbufReadU8(src);
#else
sbufReadU8(src);
#endif
}
break;

#ifdef USE_GPS
Expand Down
2 changes: 1 addition & 1 deletion src/main/msp/msp_protocol.h
View file
Expand Up @@ -62,7 +62,7 @@
#define MSP_PROTOCOL_VERSION 0

#define API_VERSION_MAJOR 1 // increment when major changes are made
#define API_VERSION_MINOR 45 // increment after a release, to set the version for all changes to go into the following release (if no changes to MSP are made between the releases, this can be reverted before the release)
#define API_VERSION_MINOR 46 // increment after a release, to set the version for all changes to go into the following release (if no changes to MSP are made between the releases, this can be reverted before the release)

#define API_VERSION_LENGTH 2

Expand Down

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