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 DSHOT_TELEMETRY_NOEDGE          (0xfffe)
  33 #define DSHOT_TELEMETRY_INVALID         (0xffff)
  34
  35 #define MIN_GCR_EDGES                   (7)
  36 #define MAX_GCR_EDGES                   (22)
  37
  38 // comment out to see frame dump of corrupted frames in dshot_telemetry_info
  39 //#define DEBUG_BBDECODE
  40
  41 #ifdef USE_DSHOT_TELEMETRY_STATS
  42 #define DSHOT_TELEMETRY_QUALITY_WINDOW 1       // capture a rolling 1 second of packet stats
  43 #define DSHOT_TELEMETRY_QUALITY_BUCKET_MS 100  // determines the granularity of the stats and the overall number of rolling buckets
  44 #define DSHOT_TELEMETRY_QUALITY_BUCKET_COUNT (DSHOT_TELEMETRY_QUALITY_WINDOW * 1000 / DSHOT_TELEMETRY_QUALITY_BUCKET_MS)
  45
  46 typedef struct dshotTelemetryQuality_s {
  47     uint32_t packetCountSum;
  48     uint32_t invalidCountSum;
  49     uint32_t packetCountArray[DSHOT_TELEMETRY_QUALITY_BUCKET_COUNT];
  50     uint32_t invalidCountArray[DSHOT_TELEMETRY_QUALITY_BUCKET_COUNT];
  51     uint8_t lastBucketIndex;
  52 }  dshotTelemetryQuality_t;
  53
  54 extern dshotTelemetryQuality_t dshotTelemetryQuality[MAX_SUPPORTED_MOTORS];
  55 #endif // USE_DSHOT_TELEMETRY_STATS
  56
  57 #define DSHOT_NORMAL_TELEMETRY_MASK     (1 << DSHOT_TELEMETRY_TYPE_eRPM)
  58 #define DSHOT_EXTENDED_TELEMETRY_MASK   (~DSHOT_NORMAL_TELEMETRY_MASK)
  59
  60 typedef enum dshotTelemetryType_e {
  61     DSHOT_TELEMETRY_TYPE_eRPM           = 0,
  62     DSHOT_TELEMETRY_TYPE_TEMPERATURE    = 1,
  63     DSHOT_TELEMETRY_TYPE_VOLTAGE        = 2,
  64     DSHOT_TELEMETRY_TYPE_CURRENT        = 3,
  65     DSHOT_TELEMETRY_TYPE_DEBUG1         = 4,
  66     DSHOT_TELEMETRY_TYPE_DEBUG2         = 5,
  67     DSHOT_TELEMETRY_TYPE_DEBUG3         = 6,
  68     DSHOT_TELEMETRY_TYPE_STATE_EVENTS   = 7,
  69     DSHOT_TELEMETRY_TYPE_COUNT          = 8
  70 } dshotTelemetryType_t;
  71
  72 typedef enum dshotRawValueState_e {
  73     DSHOT_RAW_VALUE_STATE_INVALID = 0,
  74     DSHOT_RAW_VALUE_STATE_NOT_PROCESSED = 1,
  75     DSHOT_RAW_VALUE_STATE_PROCESSED = 2
  76 } dshotRawValueState_t;
  77
  78 typedef struct dshotProtocolControl_s {
  79     uint16_t value;
  80     bool requestTelemetry;
  81 } dshotProtocolControl_t;
  82
  83 void dshotInitEndpoints(const motorConfig_t *motorConfig, float outputLimit, float *outputLow, float *outputHigh, float *disarm, float *deadbandMotor3dHigh, float *deadbandMotor3dLow);
  84 float dshotConvertFromExternal(uint16_t externalValue);
  85 uint16_t dshotConvertToExternal(float motorValue);
  86
  87 uint16_t prepareDshotPacket(dshotProtocolControl_t *pcb);
  88
  89 #ifdef USE_DSHOT_TELEMETRY
  90 extern bool useDshotTelemetry;
  91
  92 typedef struct dshotTelemetryMotorState_s {
  93     uint16_t rawValue;
  94     uint16_t telemetryData[DSHOT_TELEMETRY_TYPE_COUNT];
  95     uint8_t telemetryTypes;
  96     uint8_t maxTemp;
  97 } dshotTelemetryMotorState_t;
  98
  99
 100 typedef struct dshotTelemetryState_s {
 101     bool useDshotTelemetry;
 102     uint32_t invalidPacketCount;
 103     uint32_t readCount;
 104     dshotTelemetryMotorState_t motorState[MAX_SUPPORTED_MOTORS];
 105     uint32_t inputBuffer[MAX_GCR_EDGES];
 106     uint16_t averageErpm;
 107     dshotRawValueState_t rawValueState;
 108 } dshotTelemetryState_t;
 109
 110 extern dshotTelemetryState_t dshotTelemetryState;
 111
 112 #ifdef USE_DSHOT_TELEMETRY_STATS
 113 void updateDshotTelemetryQuality(dshotTelemetryQuality_t *qualityStats, bool packetValid, timeMs_t currentTimeMs);
 114 #endif
 115 #endif
 116
 117 uint16_t getDshotTelemetry(uint8_t index);
 118 uint32_t erpmToRpm(uint16_t erpm);
 119 uint32_t getDshotAverageRpm(void);
 120 bool isDshotMotorTelemetryActive(uint8_t motorIndex);
 121 bool isDshotTelemetryActive(void);
 122
 123 int16_t getDshotTelemetryMotorInvalidPercent(uint8_t motorIndex);
 124
 125 void validateAndfixMotorOutputReordering(uint8_t *array, const unsigned size);
 126 void dshotCleanTelemetryData(void);