src/main/drivers/dshot.h

   1 /*
   2  * This file is part of Cleanflight and Betaflight.
   3  *
   4  * Cleanflight and Betaflight are free software. You can redistribute
   5  * this software and/or modify this software under the terms of the
   6  * GNU General Public License as published by the Free Software
   7  * Foundation, either version 3 of the License, or (at your option)
   8  * any later version.
   9  *
  10  * Cleanflight and Betaflight are distributed in the hope that they
  11  * will be useful, but WITHOUT ANY WARRANTY; without even the implied
  12  * warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
  13  * See the GNU General Public License for more details.
  14  *
  15  * You should have received a copy of the GNU General Public License
  16  * along with this software.
  17  *
  18  * If not, see <http://www.gnu.org/licenses/>.
  19  */
  20
  21 #pragma once
  22
  23 #include <stdbool.h>
  24 #include <stdint.h>
  25
  26 #include "common/time.h"
  27
  28 #include "pg/motor.h"
  29
  30 #define DSHOT_MIN_THROTTLE              (48)
  31 #define DSHOT_MAX_THROTTLE              (2047)
  32 #define DSHOT_3D_FORWARD_MIN_THROTTLE   (1048)
  33 #define DSHOT_RANGE                     (DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE)
  34
  35 #define DSHOT_TELEMETRY_NOEDGE          (0xfffe)
  36 #define DSHOT_TELEMETRY_INVALID         (0xffff)
  37
  38 #define MIN_GCR_EDGES                   (7)
  39 #define MAX_GCR_EDGES                   (22)
  40
  41 // comment out to see frame dump of corrupted frames in dshot_telemetry_info
  42 //#define DEBUG_BBDECODE
  43
  44 #ifdef USE_DSHOT_TELEMETRY_STATS
  45 #define DSHOT_TELEMETRY_QUALITY_WINDOW 1       // capture a rolling 1 second of packet stats
  46 #define DSHOT_TELEMETRY_QUALITY_BUCKET_MS 100  // determines the granularity of the stats and the overall number of rolling buckets
  47 #define DSHOT_TELEMETRY_QUALITY_BUCKET_COUNT (DSHOT_TELEMETRY_QUALITY_WINDOW * 1000 / DSHOT_TELEMETRY_QUALITY_BUCKET_MS)
  48
  49 typedef struct dshotTelemetryQuality_s {
  50     uint32_t packetCountSum;
  51     uint32_t invalidCountSum;
  52     uint32_t packetCountArray[DSHOT_TELEMETRY_QUALITY_BUCKET_COUNT];
  53     uint32_t invalidCountArray[DSHOT_TELEMETRY_QUALITY_BUCKET_COUNT];
  54     uint8_t lastBucketIndex;
  55 }  dshotTelemetryQuality_t;
  56
  57 extern dshotTelemetryQuality_t dshotTelemetryQuality[MAX_SUPPORTED_MOTORS];
  58 #endif // USE_DSHOT_TELEMETRY_STATS
  59
  60 #define DSHOT_NORMAL_TELEMETRY_MASK     (1 << DSHOT_TELEMETRY_TYPE_eRPM)
  61 #define DSHOT_EXTENDED_TELEMETRY_MASK   (~DSHOT_NORMAL_TELEMETRY_MASK)
  62
  63 typedef enum dshotTelemetryType_e {
  64     DSHOT_TELEMETRY_TYPE_eRPM           = 0,
  65     DSHOT_TELEMETRY_TYPE_TEMPERATURE    = 1,
  66     DSHOT_TELEMETRY_TYPE_VOLTAGE        = 2,
  67     DSHOT_TELEMETRY_TYPE_CURRENT        = 3,
  68     DSHOT_TELEMETRY_TYPE_DEBUG1         = 4,
  69     DSHOT_TELEMETRY_TYPE_DEBUG2         = 5,
  70     DSHOT_TELEMETRY_TYPE_DEBUG3         = 6,
  71     DSHOT_TELEMETRY_TYPE_STATE_EVENTS   = 7,
  72     DSHOT_TELEMETRY_TYPE_COUNT
  73 } dshotTelemetryType_t;
  74
  75 typedef enum dshotRawValueState_e {
  76     DSHOT_RAW_VALUE_STATE_INVALID       = 0,
  77     DSHOT_RAW_VALUE_STATE_NOT_PROCESSED = 1,
  78     DSHOT_RAW_VALUE_STATE_PROCESSED     = 2,
  79     DSHOT_RAW_VALUE_STATE_COUNT
  80 } dshotRawValueState_t;
  81
  82 typedef struct dshotProtocolControl_s {
  83     uint16_t value;
  84     bool requestTelemetry;
  85 } dshotProtocolControl_t;
  86
  87 void dshotInitEndpoints(const motorConfig_t *motorConfig, float outputLimit, float *outputLow, float *outputHigh, float *disarm, float *deadbandMotor3dHigh, float *deadbandMotor3dLow);
  88 float dshotConvertFromExternal(uint16_t externalValue);
  89 uint16_t dshotConvertToExternal(float motorValue);
  90
  91 uint16_t prepareDshotPacket(dshotProtocolControl_t *pcb);
  92
  93 #ifdef USE_DSHOT_TELEMETRY
  94 extern bool useDshotTelemetry;
  95
  96 typedef struct dshotTelemetryMotorState_s {
  97     uint16_t rawValue;
  98     uint16_t telemetryData[DSHOT_TELEMETRY_TYPE_COUNT];
  99     uint8_t telemetryTypes;
 100     uint8_t maxTemp;
 101 } dshotTelemetryMotorState_t;
 102
 103
 104 typedef struct dshotTelemetryState_s {
 105     bool useDshotTelemetry;
 106     uint32_t invalidPacketCount;
 107     uint32_t readCount;
 108     dshotTelemetryMotorState_t motorState[MAX_SUPPORTED_MOTORS];
 109     uint32_t inputBuffer[MAX_GCR_EDGES];
 110     dshotRawValueState_t rawValueState;
 111 } dshotTelemetryState_t;
 112
 113 extern dshotTelemetryState_t dshotTelemetryState;
 114
 115 #ifdef USE_DSHOT_TELEMETRY_STATS
 116 void updateDshotTelemetryQuality(dshotTelemetryQuality_t *qualityStats, bool packetValid, timeMs_t currentTimeMs);
 117 #endif
 118 #endif // USE_DSHOT_TELEMETRY
 119
 120 void initDshotTelemetry(const timeUs_t looptimeUs);
 121 void updateDshotTelemetry(void);
 122
 123 uint16_t getDshotErpm(uint8_t motorIndex);
 124 float getDshotRpm(uint8_t motorIndex);
 125 float getDshotRpmAverage(void);
 126 float getMotorFrequencyHz(uint8_t motorIndex);
 127 float getMinMotorFrequencyHz(void);
 128
 129 bool isDshotMotorTelemetryActive(uint8_t motorIndex);
 130 bool isDshotTelemetryActive(void);
 131 void dshotCleanTelemetryData(void);
 132
 133 float erpmToRpm(uint32_t erpm);
 134
 135 int16_t getDshotTelemetryMotorInvalidPercent(uint8_t motorIndex);
 136
 137 void validateAndfixMotorOutputReordering(uint8_t *array, const unsigned size);