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AP_HAL_ChibiOS: add support for Extended DShot Telemetry v2

This commit is contained in:
Maxim Buzdalov 2024-05-14 09:16:21 +10:00 committed by Andrew Tridgell
parent 0022c3aa72
commit 43937ddeed
1 changed files with 21 additions and 3 deletions
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24
libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp
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@ -755,12 +755,12 @@ bool RCOutput::bdshot_decode_telemetry_from_erpm(uint16_t encodederpm, uint8_t c
uint16_t value = (encodederpm & 0x000001ffU); // 9bits
#if HAL_WITH_ESC_TELEM
uint8_t normalized_chan = chan;
#endif
#if HAL_WITH_IO_MCU
if (iomcu_enabled) {
normalized_chan = chan + chan_offset;
}
#endif
#endif // HAL_WITH_ESC_TELEM: one can possibly imagine a FC with IOMCU but with ESC_TELEM compiled out...
if (!(value & 0x100U) && (_dshot_esc_type == DSHOT_ESC_BLHELI_EDT || _dshot_esc_type == DSHOT_ESC_BLHELI_EDT_S)) {
switch (expo) {
@ -796,10 +796,28 @@ bool RCOutput::bdshot_decode_telemetry_from_erpm(uint16_t encodederpm, uint8_t c
break;
case 0b100: // Debug 1
case 0b101: // Debug 2
case 0b110: // Stress level
case 0b111: // Status
return false;
break;
case 0b110: { // Stress level
#if HAL_WITH_ESC_TELEM && AP_EXTENDED_DSHOT_TELEM_V2_ENABLED
TelemetryData t {
.edt2_stress = value
};
update_telem_data(normalized_chan, t, AP_ESC_Telem_Backend::TelemetryType::EDT2_STRESS);
#endif
return false;
}
break;
case 0b111: { // Status
#if HAL_WITH_ESC_TELEM && AP_EXTENDED_DSHOT_TELEM_V2_ENABLED
TelemetryData t {
.edt2_status = value
};
update_telem_data(normalized_chan, t, AP_ESC_Telem_Backend::TelemetryType::EDT2_STATUS);
#endif
return false;
}
break;
default: // eRPM
break;
}