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AP_HAL_ChibiOS: use AP_ESC_Telem to record erpm data and error rate

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don't output RPM data if bi-dir dshot is not enabled
This commit is contained in:
Andy Piper 2021-03-01 20:40:39 +00:00 committed by Andrew Tridgell
parent 4f547d2acc
commit 6447bd1cdd
2 changed files with 19 additions and 2 deletions
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10
libraries/AP_HAL_ChibiOS/RCOutput.cpp
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@ -1353,9 +1353,17 @@ void RCOutput::dshot_send(pwm_group &group, uint32_t time_out_us)
for (uint8_t i=0; i<4; i++) {
uint8_t chan = group.chan[i];
if (group.is_chan_enabled(i)) {
#ifdef HAL_WITH_BIDIR_DSHOT
// retrieve the last erpm values
_bdshot.erpm[chan] = group.bdshot.erpm[i];
const uint16_t erpm = group.bdshot.erpm[i];
// update the ESC telemetry data
if (erpm < 0xFFFF && group.bdshot.enabled) {
update_rpm(chan, erpm * 200 / _bdshot.motor_poles, get_erpm_error_rate(chan));
}
_bdshot.erpm[chan] = erpm;
#endif
uint16_t pwm = period[chan];
if (safety_on && !(safety_mask & (1U<<(chan+chan_offset)))) {

11
libraries/AP_HAL_ChibiOS/RCOutput.h
View File

@ -18,6 +18,8 @@
#include "AP_HAL_ChibiOS.h"
#include <AP_HAL/Semaphores.h>
#include <AP_ESC_Telem/AP_ESC_Telem.h>
#include "shared_dma.h"
#include "ch.h"
#include "hal.h"
@ -30,7 +32,11 @@
#define RCOU_DSHOT_TIMING_DEBUG 0
class ChibiOS::RCOutput : public AP_HAL::RCOutput {
class ChibiOS::RCOutput : public AP_HAL::RCOutput
#ifdef HAL_WITH_BIDIR_DSHOT
, AP_ESC_Telem_Backend
#endif
{
public:
// disabled channel marker
const static uint8_t CHAN_DISABLED = 255;
@ -151,6 +157,8 @@ public:
with Dshot to get telemetry feedback
*/
void set_bidir_dshot_mask(uint16_t mask) override;
void set_motor_poles(uint8_t poles) override { _bdshot.motor_poles = poles; }
#endif
/*
@ -458,6 +466,7 @@ private:
uint16_t erpm_errors[max_channels];
uint16_t erpm_clean_frames[max_channels];
uint32_t erpm_last_stats_ms[max_channels];
uint8_t motor_poles;
#endif
} _bdshot;