aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_Periph: enable DShot ESC telemetry

Browse Source
This commit is contained in:
Andrew Tridgell 2021-12-07 19:09:41 +11:00 committed by Tom Pittenger
parent d34579c275
commit 91424c1f03
3 changed files with 25 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

15
Tools/AP_Periph/Parameters.cpp
View File

@ -29,6 +29,10 @@ extern const AP_HAL::HAL &hal;
#define AP_PERIPH_MSP_PORT_DEFAULT 1
#endif
#ifndef AP_PERIPH_ESC_TELEM_PORT_DEFAULT
#define AP_PERIPH_ESC_TELEM_PORT_DEFAULT -1
#endif
#ifndef HAL_DEFAULT_MAV_SYSTEM_ID
#define MAV_SYSTEM_ID 3
#else
@ -302,6 +306,17 @@ const AP_Param::Info AP_Periph_FW::var_info[] = {
// @User: Advanced
// @RebootRequired: True
GSCALAR(esc_pwm_type, "ESC_PWM_TYPE", 0),
#if HAL_WITH_ESC_TELEM
// @Param: ESC_TELEM_PORT
// @DisplayName: ESC Telemetry Serial Port
// @Description: This is the serial port number where SERIALx_PROTOCOL will be set to ESC Telemetry
// @Range: 0 10
// @Increment: 1
// @User: Advanced
// @RebootRequired: True
GSCALAR(esc_telem_port, "ESC_TELEM_PORT", AP_PERIPH_ESC_TELEM_PORT_DEFAULT),
#endif
#endif
#ifdef HAL_PERIPH_ENABLE_MSP

4
Tools/AP_Periph/Parameters.h
View File

@ -50,6 +50,7 @@ public:
k_param_serial_manager,
k_param_gps_mb_only_can_port,
k_param_scripting,
k_param_esc_telem_port,
};
AP_Int16 format_version;
@ -105,6 +106,9 @@ public:
#ifdef HAL_PERIPH_ENABLE_RC_OUT
AP_Int8 esc_pwm_type;
#if HAL_WITH_ESC_TELEM
AP_Int8 esc_telem_port;
#endif
#endif
AP_Int8 debug;

6
Tools/AP_Periph/rc_out.cpp
View File

@ -31,6 +31,12 @@ void AP_Periph_FW::rcout_init()
// start up with safety enabled. This disables the pwm output until we receive an packet from the rempte system
hal.rcout->force_safety_on();
if (g.esc_telem_port >= 0) {
serial_manager.set_protocol_and_baud(g.esc_telem_port, AP_SerialManager::SerialProtocol_ESCTelemetry, 115200);
}
SRV_Channels::init();
#if HAL_PWM_COUNT > 0
for (uint8_t i=0; i<HAL_PWM_COUNT; i++) {
servo_channels.set_default_function(i, SRV_Channel::Aux_servo_function_t(SRV_Channel::k_rcin1 + i));