Beat Küng
6 years ago
8 changed files with 553 additions and 37 deletions
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module_name: DShot Driver |
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serial_config: |
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- command: dshot telemetry ${SERIAL_DEV} |
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port_config_param: |
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name: DSHOT_TEL_CFG |
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group: DShot |
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parameters: |
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- group: DShot |
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definitions: |
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DSHOT_CONFIG: |
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description: |
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short: Configure DShot |
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long: | |
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This enables/disables DShot. The different modes define different |
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speeds, for example DShot150 = 150kb/s. Not all ESCs support all modes. |
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Note: this enables DShot on the FMU outputs. For boards with an IO it is the |
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AUX outputs. |
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type: enum |
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values: |
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0: Disable (use PWM/Oneshot) |
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150: DShot150 |
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300: DShot300 |
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600: DShot600 |
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1200: DShot1200 |
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reboot_required: true |
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default: 0 |
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DSHOT_MIN: |
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description: |
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short: Minimum DShot Motor Output |
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long: | |
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Minimum Output Value for DShot in percent. The value depends on the ESC. Make |
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sure to set this high enough so that the motors are always spinning while |
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armed. |
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type: float |
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unit: '%' |
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min: 0 |
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max: 1 |
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decimal: 2 |
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increment: 0.01 |
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default: 0.055 |
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MOT_POLE_COUNT: # only used by dshot so far, so keep it under the dshot group |
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description: |
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short: Number of magnetic poles of the motors |
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long: | |
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Specify the number of magnetic poles of the motors. |
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It is required to compute the RPM value from the eRPM returned with the ESC telemetry. |
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|
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Either get the number from the motor spec sheet or count the magnets on the bell of the motor (not the stator magnets). |
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Typical motors for 5 inch props have 14 poles. |
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type: int32 |
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default: 14 |
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@ -0,0 +1,265 @@ |
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/****************************************************************************
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* |
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* Copyright (c) 2019 PX4 Development Team. All rights reserved. |
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* |
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* Redistribution and use in source and binary forms, with or without |
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* modification, are permitted provided that the following conditions |
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* are met: |
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* |
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* 1. Redistributions of source code must retain the above copyright |
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* notice, this list of conditions and the following disclaimer. |
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* 2. Redistributions in binary form must reproduce the above copyright |
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* notice, this list of conditions and the following disclaimer in |
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* the documentation and/or other materials provided with the |
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* distribution. |
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* 3. Neither the name PX4 nor the names of its contributors may be |
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* used to endorse or promote products derived from this software |
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* without specific prior written permission. |
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* |
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS |
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED |
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
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* POSSIBILITY OF SUCH DAMAGE. |
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* |
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****************************************************************************/ |
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#include "telemetry.h" |
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#include <px4_log.h> |
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#include <unistd.h> |
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#include <fcntl.h> |
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#include <termios.h> |
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#include <errno.h> |
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using namespace time_literals; |
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#define DSHOT_TELEMETRY_UART_BAUDRATE 115200 |
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DShotTelemetry::~DShotTelemetry() |
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{ |
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deinit(); |
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} |
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int DShotTelemetry::init(const char *uart_device) |
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{ |
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deinit(); |
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_uart_fd = ::open(uart_device, O_RDONLY | O_NOCTTY); |
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if (_uart_fd < 0) { |
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PX4_ERR("failed to open serial port: %s err: %d", uart_device, errno); |
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return -errno; |
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} |
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_current_motor_index_request = -1; |
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return setBaudrate(DSHOT_TELEMETRY_UART_BAUDRATE); |
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} |
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void DShotTelemetry::deinit() |
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{ |
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if (_uart_fd >= 0) { |
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close(_uart_fd); |
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_uart_fd = -1; |
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} |
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} |
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int DShotTelemetry::update() |
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{ |
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if (_uart_fd < 0) { |
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return -1; |
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} |
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if (_current_motor_index_request == -1) { |
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// nothing in progress, start a request
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_current_motor_index_request = 0; |
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_current_request_start = 0; |
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_frame_position = 0; |
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return -1; |
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} |
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// read from the uart. This must be non-blocking, so check first if there is data available
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int bytes_available = 0; |
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int ret = ioctl(_uart_fd, FIONREAD, (unsigned long)&bytes_available); |
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if (ret != 0 || bytes_available <= 0) { |
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// no data available. Check for a timeout
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const hrt_abstime now = hrt_absolute_time(); |
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if (_current_request_start > 0 && now - _current_request_start > 30_ms) { |
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PX4_DEBUG("ESC telemetry timeout for motor %i (frame pos=%i)", _current_motor_index_request, _frame_position); |
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requestNextMotor(); |
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} |
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return -1; |
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} |
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const int buf_length = ESC_FRAME_SIZE; |
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uint8_t buf[buf_length]; |
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int num_read = read(_uart_fd, buf, buf_length); |
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ret = -1; |
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for (int i = 0; i < num_read; ++i) { |
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if (decodeByte(buf[i])) { |
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ret = _current_motor_index_request; |
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requestNextMotor(); |
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} |
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} |
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return ret; |
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} |
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bool DShotTelemetry::decodeByte(uint8_t byte) |
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{ |
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_frame_buffer[_frame_position++] = byte; |
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if (_frame_position == ESC_FRAME_SIZE) { |
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PX4_DEBUG("got ESC frame for motor %i", _current_motor_index_request); |
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uint8_t checksum = crc8(_frame_buffer, ESC_FRAME_SIZE - 1); |
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uint8_t checksum_data = _frame_buffer[ESC_FRAME_SIZE - 1]; |
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if (checksum == checksum_data) { |
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_latest_data.time = hrt_absolute_time(); |
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_latest_data.temperature = _frame_buffer[0]; |
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_latest_data.voltage = (_frame_buffer[1] << 8) | _frame_buffer[2]; |
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_latest_data.current = (_frame_buffer[3] << 8) | _frame_buffer[4]; |
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_latest_data.consumption = (_frame_buffer[5]) << 8 | _frame_buffer[6]; |
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_latest_data.erpm = (_frame_buffer[7] << 8) | _frame_buffer[8]; |
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PX4_DEBUG("Motor %i: temp=%i, V=%i, cur=%i, consumpt=%i, rpm=%i", _current_motor_index_request, |
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_latest_data.temperature, _latest_data.voltage, _latest_data.current, _latest_data.consumption, |
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_latest_data.erpm); |
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} |
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return true; |
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} |
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return false; |
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} |
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uint8_t DShotTelemetry::updateCrc8(uint8_t crc, uint8_t crc_seed) |
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{ |
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uint8_t crc_u = crc ^ crc_seed; |
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for (int i = 0; i < 8; ++i) { |
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crc_u = (crc_u & 0x80) ? 0x7 ^ (crc_u << 1) : (crc_u << 1); |
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} |
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return crc_u; |
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} |
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uint8_t DShotTelemetry::crc8(const uint8_t *buf, uint8_t len) |
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{ |
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uint8_t crc = 0; |
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for (int i = 0; i < len; ++i) { |
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crc = updateCrc8(buf[i], crc); |
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} |
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return crc; |
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} |
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void DShotTelemetry::requestNextMotor() |
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{ |
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_current_motor_index_request = (_current_motor_index_request + 1) % _num_motors; |
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_current_request_start = 0; |
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_frame_position = 0; |
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} |
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int DShotTelemetry::getRequestMotorIndex() |
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{ |
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if (_current_request_start != 0) { |
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// already in progress, do not send another request
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return -1; |
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} |
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_current_request_start = hrt_absolute_time(); |
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return _current_motor_index_request; |
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} |
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int DShotTelemetry::setBaudrate(unsigned baud) |
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{ |
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int speed; |
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switch (baud) { |
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case 9600: speed = B9600; break; |
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case 19200: speed = B19200; break; |
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case 38400: speed = B38400; break; |
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case 57600: speed = B57600; break; |
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case 115200: speed = B115200; break; |
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case 230400: speed = B230400; break; |
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default: |
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return -EINVAL; |
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} |
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struct termios uart_config; |
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int termios_state; |
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/* fill the struct for the new configuration */ |
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tcgetattr(_uart_fd, &uart_config); |
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//
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// Input flags - Turn off input processing
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//
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// convert break to null byte, no CR to NL translation,
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// no NL to CR translation, don't mark parity errors or breaks
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// no input parity check, don't strip high bit off,
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// no XON/XOFF software flow control
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//
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uart_config.c_iflag &= ~(IGNBRK | BRKINT | ICRNL | |
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INLCR | PARMRK | INPCK | ISTRIP | IXON); |
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//
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// Output flags - Turn off output processing
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//
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// no CR to NL translation, no NL to CR-NL translation,
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// no NL to CR translation, no column 0 CR suppression,
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// no Ctrl-D suppression, no fill characters, no case mapping,
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// no local output processing
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//
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// config.c_oflag &= ~(OCRNL | ONLCR | ONLRET |
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// ONOCR | ONOEOT| OFILL | OLCUC | OPOST);
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uart_config.c_oflag = 0; |
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//
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// No line processing
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//
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// echo off, echo newline off, canonical mode off,
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// extended input processing off, signal chars off
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//
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uart_config.c_lflag &= ~(ECHO | ECHONL | ICANON | IEXTEN | ISIG); |
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/* no parity, one stop bit, disable flow control */ |
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uart_config.c_cflag &= ~(CSTOPB | PARENB | CRTSCTS); |
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/* set baud rate */ |
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if ((termios_state = cfsetispeed(&uart_config, speed)) < 0) { |
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return -errno; |
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} |
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if ((termios_state = cfsetospeed(&uart_config, speed)) < 0) { |
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return -errno; |
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} |
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if ((termios_state = tcsetattr(_uart_fd, TCSANOW, &uart_config)) < 0) { |
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return -errno; |
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} |
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return 0; |
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} |
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