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[dshot] fix dshot telemetry and provide pprz message support (#3033)

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* [dshot] fix dshot telemetry and provide pprz message support

each dshot driver supports it's own telemetry uart
pprz message ESC can be sent over telemetry or flight recorder
configuration is done by giving the uart number

* [dshot] send RPM Abi message from DSHOT driver
This commit is contained in:
Gautier Hattenberger
2023-05-17 10:05:21 +02:00
committed by GitHub
parent 5dacd6a666
commit e7781e7b87
7 changed files with 210 additions and 27 deletions
Download Patch File Download Diff File Expand all files Collapse all files
conf/telemetry/default_rotorcraft.xml
+1
View File
@@ -202,6 +202,7 @@
<message name="IMU_ACCEL_SCALED" period=".075"/>
<message name="IMU_MAG_SCALED" period=".2"/>
<message name="LIDAR" period="0.05"/>
<message name="ESC" period="0.05"/>
</mode>
</process>
sw/airborne/arch/chibios/modules/actuators/actuators_dshot_arch.c
+144 -13
View File
@@ -27,11 +27,23 @@
#include "modules/actuators/actuators_dshot.h"
#include "modules/actuators/esc_dshot.h"
#include "modules/core/abi.h"
#include "mcu_periph/ram_arch.h"
#include "mcu_periph/gpio.h"
#include BOARD_CONFIG
uint16_t actuators_dshot_values[ACTUATORS_DSHOT_NB];
#if PERIODIC_TELEMETRY
#include "modules/datalink/telemetry.h"
#include "modules/energy/electrical.h"
#endif
struct dshot_private {
DSHOTDriver *driver;
uint32_t channel;
};
struct dshot actuators_dshot_values[ACTUATORS_DSHOT_NB];
struct dshot_private actuators_dshot_private[ACTUATORS_DSHOT_NB];
#if DSHOT_CONF_TIM1
static DSHOTDriver DSHOTD1;
@@ -69,47 +81,153 @@ static IN_DMA_SECTION_NOINIT(DshotDmaBuffer dshot9DmaBuffer);
static DSHOTConfig dshotcfg9 = DSHOT_CONF9_DEF;
#endif
#if PERIODIC_TELEMETRY
static void esc_msg_send(struct transport_tx *trans, struct link_device *dev) {
for (uint8_t i = 0; i < ACTUATORS_DSHOT_NB; i++) {
if (actuators_dshot_values[i].activated) {
const DshotTelemetry *dtelem = dshotGetTelemetry(actuators_dshot_private[i].driver, actuators_dshot_private[i].channel);
actuators_dshot_values[i].current = (float)dtelem->current * 0.01f;
actuators_dshot_values[i].voltage = (float)dtelem->voltage * 0.01f;
actuators_dshot_values[i].rpm = (float)dtelem->rpm;
float bat_voltage = electrical.vsupply;
float power = actuators_dshot_values[i].current * bat_voltage;
float energy = (float)dtelem->consumption;
pprz_msg_send_ESC(trans, dev, AC_ID,
&actuators_dshot_values[i].current,
&bat_voltage,
&power,
&actuators_dshot_values[i].rpm,
&actuators_dshot_values[i].voltage,
&energy,
&i);
}
}
}
#endif
static void dshot_init_struct(struct dshot * ds)
{
ds->cmd = 0;
ds->rpm = 0;
ds->current = 0;
ds->voltage = 0;
ds->activated = false;
}
static void dshot_set_struct(struct dshot * ds, struct dshot_private * dsp, DSHOTDriver * driver, uint32_t channel)
{
ds->activated = true;
dsp->driver = driver;
dsp->channel = channel;
}
#define _CONCAT_GPIO(num, name) UART ## num ## _GPIO_ ## name
#define CONCAT_GPIO(num, name) _CONCAT_GPIO(num, name)
void actuators_dshot_arch_init(void)
{
// init dshot structure to zero
for (int i = 0; i < ACTUATORS_DSHOT_NB; i++) {
dshot_init_struct(&actuators_dshot_values[i]);
}
// configure telemetry pin if needed
// the serial device interface might have to be activated
// by hand (ChibiOS HAL), but PPRZ one disabled
#ifdef DSHOT_TIM1_TELEMETRY_NUM
gpio_setup_pin_af(
CONCAT_GPIO(DSHOT_TIM1_TELEMETRY_NUM, PORT_RX),
CONCAT_GPIO(DSHOT_TIM1_TELEMETRY_NUM, RX),
CONCAT_GPIO(DSHOT_TIM1_TELEMETRY_NUM, AF), FALSE);
#endif
#ifdef DSHOT_TIM2_TELEMETRY_NUM
gpio_setup_pin_af(
CONCAT_GPIO(DSHOT_TIM2_TELEMETRY_NUM, PORT_RX),
CONCAT_GPIO(DSHOT_TIM2_TELEMETRY_NUM, RX),
CONCAT_GPIO(DSHOT_TIM2_TELEMETRY_NUM, AF), FALSE);
#endif
#ifdef DSHOT_TIM3_TELEMETRY_NUM
gpio_setup_pin_af(
CONCAT_GPIO(DSHOT_TIM3_TELEMETRY_NUM, PORT_RX),
CONCAT_GPIO(DSHOT_TIM3_TELEMETRY_NUM, RX),
CONCAT_GPIO(DSHOT_TIM3_TELEMETRY_NUM, AF), FALSE);
#endif
#ifdef DSHOT_TIM4_TELEMETRY_NUM
gpio_setup_pin_af(
CONCAT_GPIO(DSHOT_TIM4_TELEMETRY_NUM, PORT_RX),
CONCAT_GPIO(DSHOT_TIM4_TELEMETRY_NUM, RX),
CONCAT_GPIO(DSHOT_TIM4_TELEMETRY_NUM, AF), FALSE);
#endif
#ifdef DSHOT_TIM5_TELEMETRY_NUM
gpio_setup_pin_af(
CONCAT_GPIO(DSHOT_TIM5_TELEMETRY_NUM, PORT_RX),
CONCAT_GPIO(DSHOT_TIM5_TELEMETRY_NUM, RX),
CONCAT_GPIO(DSHOT_TIM5_TELEMETRY_NUM, AF), FALSE);
#endif
#ifdef DSHOT_TIM8_TELEMETRY_NUM
gpio_setup_pin_af(
CONCAT_GPIO(DSHOT_TIM8_TELEMETRY_NUM, PORT_RX),
CONCAT_GPIO(DSHOT_TIM8_TELEMETRY_NUM, RX),
CONCAT_GPIO(DSHOT_TIM8_TELEMETRY_NUM, AF), FALSE);
#endif
#ifdef DSHOT_TIM9_TELEMETRY_NUM
gpio_setup_pin_af(
CONCAT_GPIO(DSHOT_TIM9_TELEMETRY_NUM, PORT_RX),
CONCAT_GPIO(DSHOT_TIM9_TELEMETRY_NUM, RX),
CONCAT_GPIO(DSHOT_TIM9_TELEMETRY_NUM, AF), FALSE);
#endif
/*----------------
* Configure GPIO
*----------------*/
#ifdef DSHOT_SERVO_0
gpio_setup_pin_af(DSHOT_SERVO_0_GPIO, DSHOT_SERVO_0_PIN, DSHOT_SERVO_0_AF, true);
dshot_set_struct(&actuators_dshot_values[DSHOT_SERVO_0], &actuators_dshot_private[DSHOT_SERVO_0], &DSHOT_SERVO_0_DRIVER, DSHOT_SERVO_0_CHANNEL);
#endif
#ifdef DSHOT_SERVO_1
gpio_setup_pin_af(DSHOT_SERVO_1_GPIO, DSHOT_SERVO_1_PIN, DSHOT_SERVO_1_AF, true);
dshot_set_struct(&actuators_dshot_values[DSHOT_SERVO_1], &actuators_dshot_private[DSHOT_SERVO_1], &DSHOT_SERVO_1_DRIVER, DSHOT_SERVO_1_CHANNEL);
#endif
#ifdef DSHOT_SERVO_2
gpio_setup_pin_af(DSHOT_SERVO_2_GPIO, DSHOT_SERVO_2_PIN, DSHOT_SERVO_2_AF, true);
dshot_set_struct(&actuators_dshot_values[DSHOT_SERVO_2], &actuators_dshot_private[DSHOT_SERVO_2], &DSHOT_SERVO_2_DRIVER, DSHOT_SERVO_2_CHANNEL);
#endif
#ifdef DSHOT_SERVO_3
gpio_setup_pin_af(DSHOT_SERVO_3_GPIO, DSHOT_SERVO_3_PIN, DSHOT_SERVO_3_AF, true);
dshot_set_struct(&actuators_dshot_values[DSHOT_SERVO_3], &actuators_dshot_private[DSHOT_SERVO_3], &DSHOT_SERVO_3_DRIVER, DSHOT_SERVO_3_CHANNEL);
#endif
#ifdef DSHOT_SERVO_4
gpio_setup_pin_af(DSHOT_SERVO_4_GPIO, DSHOT_SERVO_4_PIN, DSHOT_SERVO_4_AF, true);
dshot_set_struct(&actuators_dshot_values[DSHOT_SERVO_4], &actuators_dshot_private[DSHOT_SERVO_4], &DSHOT_SERVO_4_DRIVER, DSHOT_SERVO_4_CHANNEL);
#endif
#ifdef DSHOT_SERVO_5
gpio_setup_pin_af(DSHOT_SERVO_5_GPIO, DSHOT_SERVO_5_PIN, DSHOT_SERVO_5_AF, true);
dshot_set_struct(&actuators_dshot_values[DSHOT_SERVO_5], &actuators_dshot_private[DSHOT_SERVO_5], &DSHOT_SERVO_5_DRIVER, DSHOT_SERVO_5_CHANNEL);
#endif
#ifdef DSHOT_SERVO_6
gpio_setup_pin_af(DSHOT_SERVO_6_GPIO, DSHOT_SERVO_6_PIN, DSHOT_SERVO_6_AF, true);
dshot_set_struct(&actuators_dshot_values[DSHOT_SERVO_6], &actuators_dshot_private[DSHOT_SERVO_6], &DSHOT_SERVO_6_DRIVER, DSHOT_SERVO_6_CHANNEL);
#endif
#ifdef DSHOT_SERVO_7
gpio_setup_pin_af(DSHOT_SERVO_7_GPIO, DSHOT_SERVO_7_PIN, DSHOT_SERVO_7_AF, true);
dshot_set_struct(&actuators_dshot_values[DSHOT_SERVO_7], &actuators_dshot_private[DSHOT_SERVO_7], &DSHOT_SERVO_7_DRIVER, DSHOT_SERVO_7_CHANNEL);
#endif
#ifdef DSHOT_SERVO_8
gpio_setup_pin_af(DSHOT_SERVO_8_GPIO, DSHOT_SERVO_8_PIN, DSHOT_SERVO_8_AF, true);
dshot_set_struct(&actuators_dshot_values[DSHOT_SERVO_8], &actuators_dshot_private[DSHOT_SERVO_8], &DSHOT_SERVO_8_DRIVER, DSHOT_SERVO_8_CHANNEL);
#endif
#ifdef DSHOT_SERVO_9
gpio_setup_pin_af(DSHOT_SERVO_9_GPIO, DSHOT_SERVO_9_PIN, DSHOT_SERVO_9_AF, true);
dshot_set_struct(&actuators_dshot_values[DSHOT_SERVO_9], &actuators_dshot_private[DSHOT_SERVO_9], &DSHOT_SERVO_9_DRIVER, DSHOT_SERVO_9_CHANNEL);
#endif
#ifdef DSHOT_SERVO_10
gpio_setup_pin_af(DSHOT_SERVO_10_GPIO, DSHOT_SERVO_10_PIN, DSHOT_SERVO_10_AF, true);
dshot_set_struct(&actuators_dshot_values[DSHOT_SERVO_10], &actuators_dshot_private[DSHOT_SERVO_10], &DSHOT_SERVO_10_DRIVER, DSHOT_SERVO_10_CHANNEL);
#endif
#ifdef DSHOT_SERVO_11
gpio_setup_pin_af(DSHOT_SERVO_11_GPIO, DSHOT_SERVO_11_PIN, DSHOT_SERVO_11_AF, true);
dshot_set_struct(&actuators_dshot_values[DSHOT_SERVO_11], &actuators_dshot_private[DSHOT_SERVO_11], &DSHOT_SERVO_11_DRIVER, DSHOT_SERVO_11_CHANNEL);
#endif
/*---------------
@@ -136,46 +254,50 @@ void actuators_dshot_arch_init(void)
#if DSHOT_CONF_TIM9
dshotStart(&DSHOTD9, &dshotcfg9);
#endif
#if PERIODIC_TELEMETRY
register_periodic_telemetry(DefaultPeriodic, PPRZ_MSG_ID_ESC, esc_msg_send);
#endif
}
void actuators_dshot_arch_commit(void)
{
#ifdef DSHOT_SERVO_0
dshotSetThrottle(&DSHOT_SERVO_0_DRIVER, DSHOT_SERVO_0_CHANNEL, actuators_dshot_values[DSHOT_SERVO_0]);
dshotSetThrottle(&DSHOT_SERVO_0_DRIVER, DSHOT_SERVO_0_CHANNEL, actuators_dshot_values[DSHOT_SERVO_0].cmd);
#endif
#ifdef DSHOT_SERVO_1
dshotSetThrottle(&DSHOT_SERVO_1_DRIVER, DSHOT_SERVO_1_CHANNEL, actuators_dshot_values[DSHOT_SERVO_1]);
dshotSetThrottle(&DSHOT_SERVO_1_DRIVER, DSHOT_SERVO_1_CHANNEL, actuators_dshot_values[DSHOT_SERVO_1].cmd);
#endif
#ifdef DSHOT_SERVO_2
dshotSetThrottle(&DSHOT_SERVO_2_DRIVER, DSHOT_SERVO_2_CHANNEL, actuators_dshot_values[DSHOT_SERVO_2]);
dshotSetThrottle(&DSHOT_SERVO_2_DRIVER, DSHOT_SERVO_2_CHANNEL, actuators_dshot_values[DSHOT_SERVO_2].cmd);
#endif
#ifdef DSHOT_SERVO_3
dshotSetThrottle(&DSHOT_SERVO_3_DRIVER, DSHOT_SERVO_3_CHANNEL, actuators_dshot_values[DSHOT_SERVO_3]);
dshotSetThrottle(&DSHOT_SERVO_3_DRIVER, DSHOT_SERVO_3_CHANNEL, actuators_dshot_values[DSHOT_SERVO_3].cmd);
#endif
#ifdef DSHOT_SERVO_4
dshotSetThrottle(&DSHOT_SERVO_4_DRIVER, DSHOT_SERVO_4_CHANNEL, actuators_dshot_values[DSHOT_SERVO_4]);
dshotSetThrottle(&DSHOT_SERVO_4_DRIVER, DSHOT_SERVO_4_CHANNEL, actuators_dshot_values[DSHOT_SERVO_4].cmd);
#endif
#ifdef DSHOT_SERVO_5
dshotSetThrottle(&DSHOT_SERVO_5_DRIVER, DSHOT_SERVO_5_CHANNEL, actuators_dshot_values[DSHOT_SERVO_5]);
dshotSetThrottle(&DSHOT_SERVO_5_DRIVER, DSHOT_SERVO_5_CHANNEL, actuators_dshot_values[DSHOT_SERVO_5].cmd);
#endif
#ifdef DSHOT_SERVO_6
dshotSetThrottle(&DSHOT_SERVO_6_DRIVER, DSHOT_SERVO_6_CHANNEL, actuators_dshot_values[DSHOT_SERVO_6]);
dshotSetThrottle(&DSHOT_SERVO_6_DRIVER, DSHOT_SERVO_6_CHANNEL, actuators_dshot_values[DSHOT_SERVO_6].cmd);
#endif
#ifdef DSHOT_SERVO_7
dshotSetThrottle(&DSHOT_SERVO_7_DRIVER, DSHOT_SERVO_7_CHANNEL, actuators_dshot_values[DSHOT_SERVO_7]);
dshotSetThrottle(&DSHOT_SERVO_7_DRIVER, DSHOT_SERVO_7_CHANNEL, actuators_dshot_values[DSHOT_SERVO_7].cmd);
#endif
#ifdef DSHOT_SERVO_8
dshotSetThrottle(&DSHOT_SERVO_8_DRIVER, DSHOT_SERVO_8_CHANNEL, actuators_dshot_values[DSHOT_SERVO_8]);
dshotSetThrottle(&DSHOT_SERVO_8_DRIVER, DSHOT_SERVO_8_CHANNEL, actuators_dshot_values[DSHOT_SERVO_8].cmd);
#endif
#ifdef DSHOT_SERVO_9
dshotSetThrottle(&DSHOT_SERVO_9_DRIVER, DSHOT_SERVO_9_CHANNEL, actuators_dshot_values[DSHOT_SERVO_9]);
dshotSetThrottle(&DSHOT_SERVO_9_DRIVER, DSHOT_SERVO_9_CHANNEL, actuators_dshot_values[DSHOT_SERVO_9].cmd);
#endif
#ifdef DSHOT_SERVO_10
dshotSetThrottle(&DSHOT_SERVO_10_DRIVER, DSHOT_SERVO_10_CHANNEL, actuators_dshot_values[DSHOT_SERVO_10]);
dshotSetThrottle(&DSHOT_SERVO_10_DRIVER, DSHOT_SERVO_10_CHANNEL, actuators_dshot_values[DSHOT_SERVO_10].cmd);
#endif
#ifdef DSHOT_SERVO_11
dshotSetThrottle(&DSHOT_SERVO_11_DRIVER, DSHOT_SERVO_11_CHANNEL, actuators_dshot_values[DSHOT_SERVO_11]);
dshotSetThrottle(&DSHOT_SERVO_11_DRIVER, DSHOT_SERVO_11_CHANNEL, actuators_dshot_values[DSHOT_SERVO_11].cmd);
#endif
#if DSHOT_CONF_TIM1
@@ -199,4 +321,13 @@ void actuators_dshot_arch_commit(void)
#if DSHOT_CONF_TIM9
dshotSendFrame(&DSHOTD9);
#endif
uint16_t rpm_list[ACTUATORS_DSHOT_NB] = { 0 };
for (uint8_t i = 0; i < ACTUATORS_DSHOT_NB; i++) {
if (actuators_dshot_values[i].activated) {
const DshotTelemetry *dtelem = dshotGetTelemetry(actuators_dshot_private[i].driver, actuators_dshot_private[i].channel);
rpm_list[i] = dtelem->rpm;
}
}
AbiSendMsgRPM(RPM_DSHOT_ID, rpm_list, ACTUATORS_DSHOT_NB);
}
sw/airborne/arch/chibios/modules/actuators/esc_dshot.c
+3 -3
View File
@@ -126,9 +126,9 @@ void dshotStart(DSHOTDriver *driver, const DSHOTConfig *config)
static const SerialConfig tlmcfg = {
.speed = DSHOT_TELEMETRY_BAUD,
.cr1 = 0, // pas de parité
.cr1 = 0, // pas de parité
.cr2 = USART_CR2_STOP1_BITS, // 1 bit de stop
.cr3 = 0 // pas de controle de flux hardware (CTS, RTS)
.cr3 = 0 // pas de controle de flux hardware (CTS, RTS)
};
driver->config = config;
@@ -341,7 +341,7 @@ uint32_t dshotGetCrcErrorsCount(DSHOTDriver *driver)
*/
const DshotTelemetry *dshotGetTelemetry(const DSHOTDriver *driver, const uint32_t index)
{
return &driver->dshotMotors.dt[index];
return &driver->dshotMotors.dt[index - DSHOT_CHANNEL_FIRST_INDEX];
}
sw/airborne/boards/tawaki/chibios/common/mcuconf.h
+23 -4
View File
@@ -364,46 +364,65 @@
/*
* SERIAL driver system settings.
*/
#ifndef STM32_SERIAL_USE_USART1
#if USE_UART1
#define STM32_SERIAL_USE_USART1 TRUE
#else
#define STM32_SERIAL_USE_USART1 FALSE
#endif
#endif
#ifndef STM32_SERIAL_USE_USART2
#if USE_UART2
#define STM32_SERIAL_USE_USART2 TRUE
#else
#define STM32_SERIAL_USE_USART2 FALSE
#endif
#endif
#ifndef STM32_SERIAL_USE_USART3
#if USE_UART3
#define STM32_SERIAL_USE_USART3 TRUE
#else
#define STM32_SERIAL_USE_USART3 FALSE
#endif
#endif
#ifndef STM32_SERIAL_USE_UART4
#if USE_UART4
#define STM32_SERIAL_USE_UART4 TRUE
#else
#define STM32_SERIAL_USE_UART4 FALSE
#endif
#if USE_UART5
#define STM32_SERIAL_USE_UART5 TRUE
#else
#define STM32_SERIAL_USE_UART5 FALSE
#endif
#ifndef STM32_SERIAL_USE_UART5
#define STM32_SERIAL_USE_UART5 TRUE // enabled by default for dshot telemetry
#endif
#ifndef STM32_SERIAL_USE_USART6
#if USE_UART6
#define STM32_SERIAL_USE_USART6 TRUE
#else
#define STM32_SERIAL_USE_USART6 FALSE
#endif
#endif
#ifndef STM32_SERIAL_USE_UART7
#if USE_UART7
#define STM32_SERIAL_USE_UART7 TRUE
#else
#define STM32_SERIAL_USE_UART7 FALSE
#endif
#endif
#ifndef STM32_SERIAL_USE_UART8
#if USE_UART8
#define STM32_SERIAL_USE_UART8 TRUE
#else
#define STM32_SERIAL_USE_UART8 FALSE
#endif
#endif
/*
* SPI driver system settings.
sw/airborne/boards/tawaki/chibios/common/tawaki.h
+24 -4
View File
@@ -378,10 +378,22 @@
/**
* DSHOT
*/
#ifndef DSHOT_TELEMETRY_DEV
#define DSHOT_TELEMETRY_DEV NULL
#ifdef DSHOT_TIM4_TELEMETRY_NUM
#define DSHOT_TIM4_TELEMETRY_DEV CONCAT_BOARD_PARAM(&SD, DSHOT_TIM4_TELEMETRY_NUM)
#else
#define DSHOT_TIM4_TELEMETRY_DEV NULL
#endif
#ifdef DSHOT_TIM1_TELEMETRY_NUM
#define DSHOT_TIM1_TELEMETRY_DEV CONCAT_BOARD_PARAM(&SD, DSHOT_TIM1_TELEMETRY_NUM)
#else
#define DSHOT_TIM1_TELEMETRY_DEV NULL
#endif
// macros for possible dshot telemetry
#define DSHOT_TLM_RX 5
#define DSHOT_TLM_AUX_RX 4
#ifndef USE_DSHOT_TIM4
#define USE_DSHOT_TIM4 1 // use SRVb for DShot by default
#endif
@@ -422,7 +434,7 @@
.dma_stream = STM32_PWM4_UP_DMA_STREAM, \
.dma_channel = STM32_PWM4_UP_DMA_CHANNEL, \
.pwmp = &PWMD4, \
.tlm_sd = DSHOT_TELEMETRY_DEV, \
.tlm_sd = DSHOT_TIM4_TELEMETRY_DEV, \
.dma_buf = &dshot4DmaBuffer, \
.dcache_memory_in_use = false \
}
@@ -464,7 +476,7 @@
.dma_stream = STM32_PWM1_UP_DMA_STREAM, \
.dma_channel = STM32_PWM1_UP_DMA_CHANNEL, \
.pwmp = &PWMD1, \
.tlm_sd = DSHOT_TELEMETRY_DEV, \
.tlm_sd = DSHOT_TIM1_TELEMETRY_DEV, \
.dma_buf = &dshot1DmaBuffer, \
.dcache_memory_in_use = false \
}
@@ -510,6 +522,14 @@
#define UART4_GPIO_RX PAL_PAD(LINE_AUX_A2)
#define UART4_GPIO_AF AUX_A1_UART_AF
/**
* UART5 on SRVB (DSHOT telemetry)
*/
#define UART5_GPIO_PORT_RX PAL_PORT(LINE_DSHOT_RX)
#define UART5_GPIO_RX PAL_PAD(LINE_DSHOT_RX)
#define UART5_GPIO_AF AF_DSHOT_RX
/**
* SBUS / Spektrum port
*
sw/airborne/modules/actuators/actuators_dshot.h
+11 -3
View File
@@ -46,7 +46,15 @@
#define ACTUATORS_DSHOT_NB (8+1)
#endif
extern uint16_t actuators_dshot_values[ACTUATORS_DSHOT_NB];
struct dshot {
float cmd; ///< command
float rpm; ///< rpm
float current; ///< current
float voltage; ///< motor current
bool activated; ///< current dshot channel is activated
};
extern struct dshot actuators_dshot_values[ACTUATORS_DSHOT_NB];
/** Arch dependent init
*/
@@ -55,8 +63,8 @@ extern void actuators_dshot_arch_commit(void);
/* Actuator macros */
#define ActuatorDShotSet(_i, _v) { \
if (_v == 0) { actuators_dshot_values[_i] = 0; } \
else { actuators_dshot_values[_i] = _v + ACTUATORS_DSHOT_OFFSET; } \
if (_v == 0) { actuators_dshot_values[_i].cmd = 0; } \
else { actuators_dshot_values[_i].cmd = _v + ACTUATORS_DSHOT_OFFSET; } \
}
#define ActuatorsDShotInit() actuators_dshot_arch_init()
#define ActuatorsDShotCommit() actuators_dshot_arch_commit()
sw/airborne/modules/core/abi_sender_ids.h
+4
View File
@@ -463,6 +463,10 @@
#define RPM_SENSOR_ID 1
#endif
#ifndef RPM_DSHOT_ID
#define RPM_DSHOT_ID 2
#endif
/*
* IDs of THRUST increment calculation (message 16)
*/