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https://github.com/apache/nuttx.git
synced 2026-05-09 23:12:17 +08:00
drivers/timers: Add common include files, definitions and upper-half for DSHOT
DShot is a packet based serial protocol, used for controlling motor controllers (ESCs), typically for drones. This adds an upper-half driver for dshot protocol, along with common configuration options and definitions definitions. Signed-off-by: Jukka Laitinen <jukka.laitinen@tii.ae>
This commit is contained in:
Jukka Laitinen
committed by
Xiang Xiao
Xiang Xiao
parent
c3e7c94d2f
commit
b810cbe4d3
@@ -86,6 +86,10 @@ if(CONFIG_PWM)
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list(APPEND SRCS pwm.c)
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endif()
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if(CONFIG_DSHOT)
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list(APPEND SRCS dshot.c)
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endif()
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if(CONFIG_CAPTURE)
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list(APPEND SRCS capture.c)
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@@ -112,6 +112,24 @@ config FAKE_CAPTURE
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endif # CAPTURE
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config DSHOT
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bool "DShot Driver Support"
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default n
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---help---
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This selection enables the DShot driver for ESC control.
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if DSHOT
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config DSHOT_NCHANNELS
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int "Maximum DShot channels in API structs"
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default 8
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range 1 16
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---help---
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Specifies the number of output channels per timer. Each timer
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may support fewer output channels than this value.
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endif # DSHOT
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config TIMER
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bool "Timer Support"
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default n
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@@ -118,6 +118,12 @@ ifeq ($(CONFIG_PWM),y)
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TMRVPATH = :timers
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endif
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ifeq ($(CONFIG_DSHOT),y)
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CSRCS += dshot.c
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TMRDEPPATH = --dep-path timers
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TMRVPATH = :timers
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endif
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ifeq ($(CONFIG_CAPTURE),y)
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CSRCS += capture.c
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File diff suppressed because it is too large
Load Diff
@@ -113,6 +113,7 @@
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#define _1WIREBASE (0x4500) /* 1WIRE ioctl commands */
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#define _EEPIOCBASE (0x4600) /* EEPROM driver ioctl commands */
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#define _PTPBASE (0x4700) /* PTP ioctl commands */
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#define _DSHOTIOCBASE (0x4800) /* Dshot device ioctl commands */
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#define _WLIOCBASE (0x8b00) /* Wireless modules ioctl network commands */
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/* boardctl() commands share the same number space */
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@@ -807,6 +808,13 @@
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#define _PTPIOCVALID(c) (_IOC_TYPE(c)==_PTPBASE)
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#define _PTPIOC(nr) _IOC(_PTPBASE,nr)
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/* DSHOT ioctl definitions (see nuttx/timers/dshot.h) ***********************/
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/* see nuttx/include/timers/dshot.h */
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#define _DSHOTIOCVALID(c) (_IOC_TYPE(c)==_DSHOTIOCBASE)
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#define _DSHOTIOC(nr) _IOC(_DSHOTIOCBASE,nr)
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/****************************************************************************
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* Public Type Definitions
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****************************************************************************/
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@@ -0,0 +1,312 @@
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/****************************************************************************
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* include/nuttx/timers/dshot.h
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*
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* SPDX-License-Identifier: Apache-2.0
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*
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* Licensed to the Apache Software Foundation (ASF) under one or more
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* contributor license agreements. See the NOTICE file distributed with
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* this work for additional information regarding copyright ownership. The
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* ASF licenses this file to you under the Apache License, Version 2.0 (the
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* "License"); you may not use this file except in compliance with the
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* License. You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
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* WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
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* License for the specific language governing permissions and limitations
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* under the License.
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*
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****************************************************************************/
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#ifndef __INCLUDE_NUTTX_TIMERS_DSHOT_H
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#define __INCLUDE_NUTTX_TIMERS_DSHOT_H
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/* Common definitions for DShot drivers */
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/****************************************************************************
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* Included Files
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****************************************************************************/
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#include <nuttx/config.h>
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#include <nuttx/compiler.h>
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#include <nuttx/fs/ioctl.h>
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#include <time.h>
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/****************************************************************************
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* Pre-processor Definitions
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****************************************************************************/
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#ifdef CONFIG_DSHOT_NCHANNELS
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# if CONFIG_DSHOT_NCHANNELS > 16
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# error "max 16 channels supported"
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# endif
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# define DSHOT_NCHANNELS CONFIG_DSHOT_NCHANNELS
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#else
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# define DSHOT_NCHANNELS 1
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#endif
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/* IOCTL Commands ***********************************************************/
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/* Configure the DShot instance; speed, bidirectional mode, active channels */
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#define DSHOTIOC_CONFIGURE _DSHOTIOC(0x01)
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/* Write throttle data or special command for one or more channels */
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#define DSHOTIOC_SET_THROTTLE _DSHOTIOC(0x02)
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/* Retrieve telemetry from the last successful bidirectional RX */
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#define DSHOTIOC_GET_TELEMETRY _DSHOTIOC(0x03)
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/* DSHOT Speeds *************************************************************/
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#define DSHOT_SPEED_150 150000u
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#define DSHOT_SPEED_300 300000u
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#define DSHOT_SPEED_600 600000u
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#define DSHOT_SPEED_1200 1200000u
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#define DSHOT_SPEED_2400 2400000u
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#define DSHOT_SPEED_3600 3600000u
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/* DSHOT special commands (throttle values 0-47)*****************************/
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#define DSHOT_CMD_MOTOR_STOP 0
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#define DSHOT_CMD_BEEP1 1
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#define DSHOT_CMD_BEEP2 2
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#define DSHOT_CMD_BEEP3 3
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#define DSHOT_CMD_BEEP4 4
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#define DSHOT_CMD_BEEP5 5
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#define DSHOT_CMD_ESC_INFO 6
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#define DSHOT_CMD_SPIN_DIRECTION_1 7
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#define DSHOT_CMD_SPIN_DIRECTION_2 8
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#define DSHOT_CMD_3D_MODE_OFF 9
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#define DSHOT_CMD_3D_MODE_ON 10
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#define DSHOT_CMD_SETTINGS_REQUEST 11
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#define DSHOT_CMD_SAVE_SETTINGS 12
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#define DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE 13
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#define DSHOT_CMD_EXTENDED_TELEMETRY_DISABLE 14
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/* 15 - 19 Unassigned */
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#define DSHOT_CMD_SPIN_DIRECTION_NORMAL 20
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#define DSHOT_CMD_SPIN_DIRECTION_REVERSED 21
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#define DSHOT_CMD_LED0_ON 22
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#define DSHOT_CMD_LED1_ON 23
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#define DSHOT_CMD_LED2_ON 24
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#define DSHOT_CMD_LED3_ON 25
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#define DSHOT_CMD_LED0_OFF 26
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#define DSHOT_CMD_LED1_OFF 27
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#define DSHOT_CMD_LED2_OFF 28
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#define DSHOT_CMD_LED3_OFF 29
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#define DSHOT_CMD_AUDIO_STREAM_MODE 30
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#define DSHOT_CMD_SILENT_MODE 31
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#define DSHOT_CMD_SIGNAL_LINE_TELEMETRY_DISABLE 32
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#define DSHOT_CMD_SIGNAL_LINE_TELEMETRY_ENABLE 33
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#define DSHOT_CMD_SIGNAL_LINE_CONTINUOUS_ERPM_TELEMETRY 34
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#define DSHOT_CMD_SIGNAL_LINE_CONTINUOUS_ERPM_PERIOD_TELEMETRY 35
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/* 36 - 41 Unassigned */
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#define DSHOT_CMD_SIGNAL_LINE_TEMPERATURE_TELEMETRY 42
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#define DSHOT_CMD_SIGNAL_LINE_VOLTAGE_TELEMETRY 43
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#define DSHOT_CMD_SIGNAL_LINE_CURRENT_TELEMETRY 44
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#define DSHOT_CMD_SIGNAL_LINE_CONSUMPTION_TELEMETRY 45
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#define DSHOT_CMD_SIGNAL_LINE_ERPM_TELEMETRY 46
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#define DSHOT_CMD_SIGNAL_LINE_ERPM_PERIOD_TELEMETRY 47
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/* Extended telemetry types *************************************************/
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#define DSHOT_EDT_TYPE_TEMP 0x02 /* Temperature in C */
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#define DSHOT_EDT_TYPE_V 0x04 /* Voltage: 0.25V per step */
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#define DSHOT_EDT_TYPE_A 0x06 /* Current in Amp */
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#define DSHOT_EDT_TYPE_DBG1 0x08 /* Debug value 1 */
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#define DSHOT_EDT_TYPE_DBG2 0x0A /* Debug value 2 */
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#define DSHOT_EDT_TYPE_DBG3 0x0C /* Debug value 3 */
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#define DSHOT_EDT_TYPE_STATE 0x0E /* State/Event */
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/****************************************************************************
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* Public Types
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****************************************************************************/
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/* Configuration argument for DSHOTIOC_CONFIGURE
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*
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* freq - Bit rate in Hz: DSHOT_SPEED_150/300/600/1200/2400/3600
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* telem_freq - Telemetry frequency. Use 1.25 * freq for standard speed
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* (e.g., 750kHz for DShot600). Some ESCs may require
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* different values (e.g., 1.15 * freq for T-motor F55A).
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* active_mask - Bitmask of active channels (bit0=ch0, bit1=ch1, etc.)
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* bidir - Enable bidirectional DShot (inverted command data,
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* response on same line).
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*/
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struct dshot_config_s
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{
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uint32_t freq;
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uint32_t telem_freq;
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uint16_t active_mask;
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bool bidir;
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};
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/* Telemetry data for a single DShot channel. Contains eRPM, extended
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* telemetry type/value, and timestamp of the last valid response.
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*
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* erpm - eRPM value from telemetry response.
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* edt_type - Extended telemetry type (if supported).
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* edt_value - Extended telemetry value (if supported).
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* timestamp - Timestamp of the last valid response.
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*/
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struct dshot_ch_telemetry_s
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{
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uint16_t erpm;
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uint8_t edt_type;
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uint8_t edt_value;
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struct timespec timestamp;
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};
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/* Telemetry result for DSHOTIOC_GET_TELEMETRY ioctl command.
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* Contains bitmask of channels to read and telemetry data for each.
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*
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* ch_mask - Bitmask of logical channels to read telemetry from.
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* ch_telemetry - Telemetry data array for each channel.
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*/
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struct dshot_telemetry_s
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{
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uint16_t ch_mask;
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struct dshot_ch_telemetry_s ch_telemetry[DSHOT_NCHANNELS];
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};
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/* Per-channel throttle value for DSHOTIOC_SET_THROTTLE ioctl command.
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* Specifies throttle values, channel mask, and optional telemetry
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* request for efficient batching of operations.
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*
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* throttle - Throttle value array (0 = disarm, 48-2047 = armed range,
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* or special command values).
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* ch_mask - Bitmask of logical channels to set.
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* telemetry_req - Bitmask: bit N requests telemetry from channel N.
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* ch_telemetry - Telemetry data from previous request. Allows reading
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* previous telemetry response without separate ioctl.
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*/
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struct dshot_throttle_s
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{
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uint16_t throttle[DSHOT_NCHANNELS];
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uint16_t ch_mask;
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uint16_t telemetry_req;
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struct dshot_ch_telemetry_s ch_telemetry[DSHOT_NCHANNELS];
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};
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/* Raw telemetry frame captured from the DShot signal line.
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* Contains the raw GCR-encoded packet and capture timestamp.
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*
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* raw - Raw 20-bit GCR encoded packet data.
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* timestamp - Capture timestamp of the raw packet.
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*/
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struct dshot_raw_telemetry_s
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{
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uint32_t raw;
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struct timespec timestamp;
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};
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/* Lower-half driver operations table. Provides callback functions for
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* the upper-half driver to control DShot hardware. All methods except
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* ioctl are mandatory.
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*
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* setup - Called when driver is opened. Configure and initialize
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* device for use.
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* shutdown - Called when driver is closed. Stop output and free
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* hardware resources.
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* configure - Configure speed, active channels, and bidirectional
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* mode according to dshot_config_s.
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* send_command - Send DShot command packets to specified channels.
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* get_raw_telemetry - Fetch raw telemetry packets from specified channels.
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* ioctl - Optional platform-specific ioctl handler.
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*/
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struct dshot_lowerhalf_s;
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struct dshot_ops_s
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{
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CODE int (*setup)(FAR struct dshot_lowerhalf_s *dev);
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CODE int (*shutdown)(FAR struct dshot_lowerhalf_s *dev);
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CODE int (*configure)(FAR struct dshot_lowerhalf_s *dev,
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FAR const struct dshot_config_s *cfg);
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CODE int (*send_command)(FAR struct dshot_lowerhalf_s *dev,
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FAR const uint16_t *packets,
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uint16_t ch_mask);
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CODE int (*get_raw_telemetry)(FAR struct dshot_lowerhalf_s *dev,
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FAR struct dshot_raw_telemetry_s *raw,
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uint16_t ch_mask);
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CODE int (*ioctl)(FAR struct dshot_lowerhalf_s *dev,
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int cmd, unsigned long arg);
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};
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/* Public representation of lower-half state. */
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struct dshot_lowerhalf_s
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{
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FAR const struct dshot_ops_s *ops;
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};
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/****************************************************************************
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* Public Data
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****************************************************************************/
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/****************************************************************************
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* Public Function Prototypes
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****************************************************************************/
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#ifdef __cplusplus
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#define EXTERN extern "C"
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extern "C"
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{
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#else
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#define EXTERN extern
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#endif
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/****************************************************************************
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* "Upper-Half" DShot Driver Interfaces
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****************************************************************************/
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/****************************************************************************
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* Name: dshot_register
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*
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* Description:
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* This function binds an instance of a "lower half" timer driver with the
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* "upper half" DSHOT device and registers that device so that can be used
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* by application code.
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*
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* When this function is called, the "lower half" driver should be in the
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* reset state (as if the shutdown() method had already been called).
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*
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* Input Parameters:
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* path - The full path to the driver to be registered in the NuttX pseudo-
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* filesystem.
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* dev - A pointer to an instance of lower half DShot driver. This instance
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* is bound to the DShot driver and must persist as long as the driver
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* persists.
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*
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* Returned Value:
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* Zero on success; a negated errno value on failure.
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*
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****************************************************************************/
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int dshot_register(FAR const char *path, FAR struct dshot_lowerhalf_s *dev);
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#undef EXTERN
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#ifdef __cplusplus
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}
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#endif
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#endif /* __INCLUDE_NUTTX_TIMERS_DSHOT_H */
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