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 "common/time.h"
  24
  25 #include "pg/motor.h"
  26
  27 #define DSHOT_MIN_THROTTLE       48
  28 #define DSHOT_MAX_THROTTLE     2047
  29 #define DSHOT_3D_FORWARD_MIN_THROTTLE 1048
  30 #define DSHOT_RANGE (DSHOT_MAX_THROTTLE - DSHOT_MIN_THROTTLE)
  31
  32 #define MIN_GCR_EDGES         7
  33 #define MAX_GCR_EDGES         22
  34
  35 // comment out to see frame dump of corrupted frames in dshot_telemetry_info
  36 //#define DEBUG_BBDECODE
  37
  38 #ifdef USE_DSHOT_TELEMETRY_STATS
  39 #define DSHOT_TELEMETRY_QUALITY_WINDOW 1       // capture a rolling 1 second of packet stats
  40 #define DSHOT_TELEMETRY_QUALITY_BUCKET_MS 100  // determines the granularity of the stats and the overall number of rolling buckets
  41 #define DSHOT_TELEMETRY_QUALITY_BUCKET_COUNT (DSHOT_TELEMETRY_QUALITY_WINDOW * 1000 / DSHOT_TELEMETRY_QUALITY_BUCKET_MS)
  42
  43 typedef struct dshotTelemetryQuality_s {
  44     uint32_t packetCountSum;
  45     uint32_t invalidCountSum;
  46     uint32_t packetCountArray[DSHOT_TELEMETRY_QUALITY_BUCKET_COUNT];
  47     uint32_t invalidCountArray[DSHOT_TELEMETRY_QUALITY_BUCKET_COUNT];
  48     uint8_t lastBucketIndex;
  49 }  dshotTelemetryQuality_t;
  50
  51 extern dshotTelemetryQuality_t dshotTelemetryQuality[MAX_SUPPORTED_MOTORS];
  52 #endif // USE_DSHOT_TELEMETRY_STATS
  53
  54 typedef struct dshotProtocolControl_s {
  55     uint16_t value;
  56     bool requestTelemetry;
  57 } dshotProtocolControl_t;
  58
  59 void dshotInitEndpoints(const motorConfig_t *motorConfig, float outputLimit, float *outputLow, float *outputHigh, float *disarm, float *deadbandMotor3dHigh, float *deadbandMotor3dLow);
  60 float dshotConvertFromExternal(uint16_t externalValue);
  61 uint16_t dshotConvertToExternal(float motorValue);
  62
  63 uint16_t prepareDshotPacket(dshotProtocolControl_t *pcb);
  64
  65 #ifdef USE_DSHOT_TELEMETRY
  66 extern bool useDshotTelemetry;
  67
  68 typedef struct dshotTelemetryMotorState_s {
  69     uint16_t telemetryValue;
  70     bool telemetryActive;
  71 } dshotTelemetryMotorState_t;
  72
  73
  74 typedef struct dshotTelemetryState_s {
  75     bool useDshotTelemetry;
  76     uint32_t invalidPacketCount;
  77     uint32_t readCount;
  78     dshotTelemetryMotorState_t motorState[MAX_SUPPORTED_MOTORS];
  79     uint32_t inputBuffer[MAX_GCR_EDGES];
  80 } dshotTelemetryState_t;
  81
  82 extern dshotTelemetryState_t dshotTelemetryState;
  83
  84 #ifdef USE_DSHOT_TELEMETRY_STATS
  85 void updateDshotTelemetryQuality(dshotTelemetryQuality_t *qualityStats, bool packetValid, timeMs_t currentTimeMs);
  86 #endif
  87 #endif
  88
  89 uint16_t getDshotTelemetry(uint8_t index);
  90 bool isDshotMotorTelemetryActive(uint8_t motorIndex);
  91 bool isDshotTelemetryActive(void);
  92
  93 int16_t getDshotTelemetryMotorInvalidPercent(uint8_t motorIndex);
  94
  95 void validateAndfixMotorOutputReordering(uint8_t *array, const unsigned size);