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AP_HAL: add BLHeli_S ESC type and use it to control bitwidths 

adjust BLHeli_S bitwidth and ticks to support more ESC variants.
This commit is contained in:
Andy Piper 2022-05-19 20:57:50 +01:00 committed by Andrew Tridgell
parent 56e5dd1748
commit 35a37cb84b
2 changed files with 28 additions and 5 deletions
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4
libraries/AP_HAL/RCOutput.cpp
View File

@ -2,6 +2,10 @@
extern const AP_HAL::HAL &hal;
uint32_t AP_HAL::RCOutput::DSHOT_BIT_WIDTH_TICKS = DSHOT_BIT_WIDTH_TICKS_DEFAULT;
uint32_t AP_HAL::RCOutput::DSHOT_BIT_0_TICKS = DSHOT_BIT_0_TICKS_DEFAULT;
uint32_t AP_HAL::RCOutput::DSHOT_BIT_1_TICKS = DSHOT_BIT_1_TICKS_DEFAULT;
// helper function for implementation of get_output_mode_banner
const char* AP_HAL::RCOutput::get_output_mode_string(enum output_mode out_mode) const
{

29
libraries/AP_HAL/RCOutput.h
View File

@ -223,7 +223,8 @@ public:
static bool is_dshot_protocol(const enum output_mode mode);
// https://github.com/bitdump/BLHeli/blob/master/BLHeli_32%20ARM/BLHeli_32%20Firmware%20specs/Digital_Cmd_Spec.txt
// BLHeli32: https://github.com/bitdump/BLHeli/blob/master/BLHeli_32%20ARM/BLHeli_32%20Firmware%20specs/Digital_Cmd_Spec.txt
// BLHeli_S: https://github.com/bitdump/BLHeli/blob/master/BLHeli_S%20SiLabs/Dshotprog%20spec%20BLHeli_S.txt
enum BLHeliDshotCommand : uint8_t {
DSHOT_RESET = 0,
DSHOT_BEEP1 = 1,
@ -239,6 +240,7 @@ public:
DSHOT_SAVE = 12,
DSHOT_NORMAL = 20,
DSHOT_REVERSE = 21,
// The following options are only available on BLHeli32
DSHOT_LED0_ON = 22,
DSHOT_LED1_ON = 23,
DSHOT_LED2_ON = 24,
@ -253,7 +255,8 @@ public:
enum DshotEscType {
DSHOT_ESC_NONE = 0,
DSHOT_ESC_BLHELI = 1
DSHOT_ESC_BLHELI = 1,
DSHOT_ESC_BLHELI_S = 2
};
virtual void set_output_mode(uint32_t mask, enum output_mode mode) {}
@ -341,9 +344,25 @@ public:
/*
* bit width values for different protocols
*/
static constexpr uint32_t DSHOT_BIT_WIDTH_TICKS = 8;
static constexpr uint32_t DSHOT_BIT_0_TICKS = 3;
static constexpr uint32_t DSHOT_BIT_1_TICKS = 6;
/*
* It seems ESCs are quite sensitive to the DSHOT duty cycle.
* Options are (ticks, percentage):
* 20/7/14, 35/70
* 11/4/8, 36/72
* 8/3/6, 37/75
*/
// bitwidths: 8/3/6 == 37%/75%
static constexpr uint32_t DSHOT_BIT_WIDTH_TICKS_DEFAULT = 8;
static constexpr uint32_t DSHOT_BIT_0_TICKS_DEFAULT = 3;
static constexpr uint32_t DSHOT_BIT_1_TICKS_DEFAULT = 6;
// bitwidths: 11/4/8 == 36%/72%
static constexpr uint32_t DSHOT_BIT_WIDTH_TICKS_S = 11;
static constexpr uint32_t DSHOT_BIT_0_TICKS_S = 4;
static constexpr uint32_t DSHOT_BIT_1_TICKS_S = 8;
static uint32_t DSHOT_BIT_WIDTH_TICKS;
static uint32_t DSHOT_BIT_0_TICKS;
static uint32_t DSHOT_BIT_1_TICKS;
// See WS2812B spec for expected pulse widths
static constexpr uint32_t NEOP_BIT_WIDTH_TICKS = 20;