DSHOT driver based on ChibiOS. More...

#include "modules/actuators/esc_dshot.h"
#include <stdnoreturn.h>
#include <math.h>
#include <string.h>
#include "mcu_periph/sys_time_arch.h"

Include dependency graph for esc_dshot.c:

Go to the source code of this file.

Macros
#define	DSHOT_TELEMETRY_BAUD 115200U
	Baudrate of the serial link used for telemetry data Can depend on the ESC, but only 115k have been used so far. More...

#define	DSHOT_BIDIR_EXTENTED_TELEMETRY FALSE

#define	DSHOT_TELEMETRY_TIMEOUT_MS 3
	Telemetry timeout in ms. More...

#define	PWM_FREQ (STM32_SYSCLK / 2000U)

#define	TICKS_PER_PERIOD 1000
	Ticks per period that let use any timer: does not care if linked to PCLK1 or PCLK2 tick_per_period will be dynamically calculated after pwm init. More...

#define	DSHOT_BIT0_DUTY_RATIO 373U

#define	DSHOT_FREQ (driver->config->speed_khz * 1000U)

#define	DSHOT_BIT0_DUTY (driver->bit0Duty)

#define	DSHOT_BIT1_DUTY (driver->bit1Duty)

#define	TICK_FREQ (PWM_FREQ * TICKS_PER_PERIOD)

#define	DSHOT_PWM_PERIOD (TICK_FREQ/DSHOT_FREQ)

#define	DCR_DBL ((DSHOT_CHANNELS-1) << 8)

#define	DCR_DBA(pwmd) (((uint32_t ) (&pwmd->tim->CCR) - ((uint32_t ) pwmd->tim)))

#define	DSHOT_MAX_VALUE ((1U<<11U)-1U)

#define	ARRAY_LEN(a) (sizeof(a)/sizeof(a[0]))

#define	Min(x, y) (x < y ? x : y)

Functions
static DshotPacket	makeDshotPacket (const uint16_t throttle, const bool tlmRequest)

static void	setCrc4 (DshotPacket *dp)

static void	setDshotPacketThrottle (DshotPacket *const dp, const uint16_t throttle)

static void	setDshotPacketTlm (DshotPacket *const dp, const bool tlmRequest)

static void	buildDshotDmaBuffer (DSHOTDriver *driver)

static uint8_t	updateCrc8 (uint8_t crc, uint8_t crc_seed)

static uint8_t	calculateCrc8 (const uint8_t *Buf, const uint8_t BufLen)

static noreturn void	dshotTlmRec (void *arg)

static size_t	getTimerWidth (const PWMDriver *pwmp)

void	dshotStart (DSHOTDriver driver, const DSHOTConfig config)
	Configures and activates the DSHOT peripheral. More...

void	dshotStop (DSHOTDriver *driver)
	stop the DSHOT driver and free the related resources : pwm driver and dma driver. More...

void	dshotSetThrottle (DSHOTDriver *driver, const uint8_t index, const uint16_t throttle)
	prepare throttle order for specified ESC More...

void	dshotSendSpecialCommand (DSHOTDriver *driver, const uint8_t index, const dshot_special_commands_t specmd)
	send special order to one of the ESC (BHELIX, KISS, ...) More...

void	dshotSendThrottles (DSHOTDriver *driver, const uint16_t throttles[DSHOT_CHANNELS])
	send throttle packed order to all of the ESCs More...

void	dshotSendFrame (DSHOTDriver *driver)
	send throttle order More...

uint32_t	dshotGetCrcErrorCount (const DSHOTDriver *driver)
	return number of telemetry crc error since dshotStart More...

uint32_t	dshotGetTelemetryFrameCount (const DSHOTDriver *driver)
	return number of telemetry succesfull frame since dshotStart More...

DshotTelemetry	dshotGetTelemetry (DSHOTDriver *driver, uint32_t index)
	return last received telemetry data More...

Detailed Description

DSHOT driver based on ChibiOS.

Author: Alexandre Bustico @maintainer Gautier Hattenberger gauti.nosp@m.er.h.nosp@m.atten.nosp@m.berg.nosp@m.er@en.nosp@m.ac.f.nosp@m.r

Definition in file esc_dshot.c.

Macro Definition Documentation

◆ ARRAY_LEN

#define ARRAY_LEN ( a ) (sizeof(a)/sizeof(a[0]))

Definition at line 108 of file esc_dshot.c.

◆ DCR_DBA

#define DCR_DBA ( pwmd ) (((uint32_t *) (&pwmd->tim->CCR) - ((uint32_t *) pwmd->tim)))

Definition at line 104 of file esc_dshot.c.

◆ DCR_DBL

#define DCR_DBL ((DSHOT_CHANNELS-1) << 8)

Definition at line 102 of file esc_dshot.c.

◆ DSHOT_BIDIR_EXTENTED_TELEMETRY

#define DSHOT_BIDIR_EXTENTED_TELEMETRY FALSE

Definition at line 54 of file esc_dshot.c.

◆ DSHOT_BIT0_DUTY

#define DSHOT_BIT0_DUTY (driver->bit0Duty)

Definition at line 95 of file esc_dshot.c.

◆ DSHOT_BIT0_DUTY_RATIO

#define DSHOT_BIT0_DUTY_RATIO 373U

Definition at line 86 of file esc_dshot.c.

◆ DSHOT_BIT1_DUTY

#define DSHOT_BIT1_DUTY (driver->bit1Duty)

Definition at line 96 of file esc_dshot.c.

◆ DSHOT_FREQ

#define DSHOT_FREQ (driver->config->speed_khz * 1000U)

Definition at line 94 of file esc_dshot.c.

◆ DSHOT_MAX_VALUE

#define DSHOT_MAX_VALUE ((1U<<11U)-1U)

Definition at line 106 of file esc_dshot.c.

◆ DSHOT_PWM_PERIOD

#define DSHOT_PWM_PERIOD (TICK_FREQ/DSHOT_FREQ)

Definition at line 99 of file esc_dshot.c.

◆ DSHOT_TELEMETRY_BAUD

#define DSHOT_TELEMETRY_BAUD 115200U

Baudrate of the serial link used for telemetry data Can depend on the ESC, but only 115k have been used so far.

Definition at line 50 of file esc_dshot.c.

◆ DSHOT_TELEMETRY_TIMEOUT_MS

#define DSHOT_TELEMETRY_TIMEOUT_MS 3

Telemetry timeout in ms.

Definition at line 60 of file esc_dshot.c.

◆ Min

#define Min	(	x,
		y
	)	(x < y ? x : y)

Definition at line 109 of file esc_dshot.c.

◆ PWM_FREQ

#define PWM_FREQ (STM32_SYSCLK / 2000U)

Definition at line 71 of file esc_dshot.c.

◆ TICK_FREQ

#define TICK_FREQ (PWM_FREQ * TICKS_PER_PERIOD)

Definition at line 98 of file esc_dshot.c.

◆ TICKS_PER_PERIOD

#define TICKS_PER_PERIOD 1000

Ticks per period that let use any timer: does not care if linked to PCLK1 or PCLK2 tick_per_period will be dynamically calculated after pwm init.

Definition at line 81 of file esc_dshot.c.

Function Documentation

◆ buildDshotDmaBuffer()

static void buildDshotDmaBuffer ( DSHOTDriver * driver )

static

Definition at line 623 of file esc_dshot.c.

References DSHOTDriver::config, DSHOTConfig::dma_buf, DshotPackets::dp, DSHOT_BIT0_DUTY, DSHOT_BIT1_DUTY, DSHOT_BIT_WIDTHS, DSHOT_CHANNELS, DSHOT_PRE_FRAME_SILENT_SYNC_BITS, DSHOTDriver::dshotMotors, getTimerWidth(), DSHOTConfig::pwmp, DshotPacket::rawFrame, setCrc4(), and DshotDmaBuffer::widths16.

Referenced by dshotSendFrame().

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◆ calculateCrc8()

static uint8_t calculateCrc8	(	const uint8_t *	Buf,
		const uint8_t	BufLen
	)

static

Definition at line 665 of file esc_dshot.c.

References logger_uart_parse::crc, and updateCrc8().

Referenced by dshotTlmRec().

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◆ dshotGetCrcErrorCount()

uint32_t dshotGetCrcErrorCount ( const DSHOTDriver * driver )

return number of telemetry crc error since dshotStart

Parameters

[in] driver pointer to the DSHOTDriver object

Returns: number of CRC errors @api

Definition at line 442 of file esc_dshot.c.

References DSHOTDriver::crc_errors.

◆ dshotGetTelemetry()

DshotTelemetry dshotGetTelemetry	(	DSHOTDriver *	driver,
		uint32_t	index
	)

return last received telemetry data

Parameters

[in]	driver	pointer to the `DSHOTDriver` object
[in]	index	channel : [0..3] or [0..1] depending on driver used

Returns: telemetry structure by copy @api

Definition at line 468 of file esc_dshot.c.

References DSHOT_CHANNEL_FIRST_INDEX, DSHOT_CHANNELS, DSHOTDriver::dshotMotors, DshotPackets::dt, and DshotPackets::tlmMtx.

Referenced by actuators_dshot_arch_commit(), and esc_msg_send().

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◆ dshotGetTelemetryFrameCount()

uint32_t dshotGetTelemetryFrameCount ( const DSHOTDriver * driver )

return number of telemetry succesfull frame since dshotStart

Parameters

[in] driver pointer to the DSHOTDriver object

Returns: number of frames @api

Definition at line 454 of file esc_dshot.c.

References DSHOTDriver::tlm_frame_nb.

◆ dshotSendFrame()

void dshotSendFrame ( DSHOTDriver * driver )

send throttle order

Parameters

[in] driver pointer to the DSHOTDriver object

Note: dshotSetXXX api should be called prior to this function @api

Definition at line 404 of file esc_dshot.c.

References buildDshotDmaBuffer(), DSHOTDriver::config, DshotPackets::currentTlmQry, DSHOTConfig::dma_buf, DMA_READY, DSHOTDriver::dmap, dmaTransfert(), DshotPackets::dp, DSHOT_CHANNELS, DSHOT_DMA_BUFFER_SIZE, DSHOTDriver::dshotMotors, dshotRpmCatchErps(), dshotStop(), DSHOTDriver::mb, DshotPackets::onGoingQry, DSHOTConfig::pwmp, setDshotPacketTlm(), DMADriver::state, and DSHOTConfig::tlm_sd.

Referenced by actuators_dshot_arch_commit(), dshotSendSpecialCommand(), and dshotSendThrottles().

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◆ dshotSendSpecialCommand()

void dshotSendSpecialCommand	(	DSHOTDriver *	driver,
		const uint8_t	index,
		const dshot_special_commands_t	specmd
	)

send special order to one of the ESC (BHELIX, KISS, ...)

Parameters

[in]	driver	pointer to the `DSHOTDriver` object
[in]	index	channel : [0..3] or [0..1] depending on driver used
[in]	specmd	special commands, see enum @api

Definition at line 330 of file esc_dshot.c.

References DSHOTDriver::config, DshotPackets::dp, DSHOT_ALL_MOTORS, DSHOT_CHANNELS, DSHOT_CMD_3D_MODE_OFF, DSHOT_CMD_3D_MODE_ON, DSHOT_CMD_AUDIO_STREAM_MODE_ON_OFF, DSHOT_CMD_BIDIR_EDT_MODE_OFF, DSHOT_CMD_BIDIR_EDT_MODE_ON, DSHOT_CMD_MAX, DSHOT_CMD_SAVE_SETTINGS, DSHOT_CMD_SETTINGS_REQUEST, DSHOT_CMD_SILENT_MODE_ON_OFF, DSHOT_CMD_SPIN_DIRECTION_1, DSHOT_CMD_SPIN_DIRECTION_2, DSHOTDriver::dshotMotors, dshotSendFrame(), setDshotPacketThrottle(), setDshotPacketTlm(), and DSHOTConfig::tlm_sd.

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◆ dshotSendThrottles()

void dshotSendThrottles	(	DSHOTDriver *	driver,
		const uint16_t	throttles[DSHOT_CHANNELS]
	)

send throttle packed order to all of the ESCs

Parameters

[in]	driver	pointer to the `DSHOTDriver` object
[in]	throttle[DSHOT_CHANNELS]	[48 .. 2047]

Note: dshotSendFrame is called by this function; telemetry bit is set in turn for each ESC of the ESCs @api

Definition at line 385 of file esc_dshot.c.

References DshotPackets::dp, DSHOT_CHANNELS, DSHOTDriver::dshotMotors, dshotSendFrame(), and setDshotPacketThrottle().

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◆ dshotSetThrottle()

void dshotSetThrottle	(	DSHOTDriver *	driver,
		const uint8_t	index,
		const uint16_t	throttle
	)

prepare throttle order for specified ESC

Parameters

[in]	driver	pointer to the `DSHOTDriver` object
[in]	index	channel : [0..3] or [0..1] depending on driver used
[in]	throttle	[48 .. 2047]

Note: dshotSendFrame has to be called after using this function; see also dshotSendThrottles @api

Definition at line 301 of file esc_dshot.c.

References DshotPackets::dp, DSHOT_ALL_MOTORS, DSHOT_CHANNEL_FIRST_INDEX, DSHOT_CHANNELS, DSHOT_CMD_MAX, DSHOT_MAX_VALUE, DSHOTDriver::dshotMotors, Min, and setDshotPacketThrottle().

Referenced by actuators_dshot_arch_commit().

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◆ dshotStart()

void dshotStart	(	DSHOTDriver *	driver,
		const DSHOTConfig *	config
	)

Configures and activates the DSHOT peripheral.

Parameters

[in]	driver	pointer to the `DSHOTDriver` object
[in]	config	pointer to the `DSHOTConfig` object. @api

Definition at line 154 of file esc_dshot.c.

References DSHOTDriver::_mbBuf, ARRAY_LEN, DSHOTDriver::bit0Duty, DSHOTDriver::bit1Duty, DSHOTDriver::config, config, DSHOTDriver::crc_errors, DshotPackets::currentTlmQry, DCR_DBA, DCR_DBL, DSHOTDriver::dma_conf, DMA_DIR_M2P, DMA_ONESHOT, dmaObjectInit(), DSHOTDriver::dmap, dmaStart(), DshotPackets::dp, DSHOT_BIDIR, DSHOT_BIT0_DUTY_RATIO, DSHOT_CHANNELS, DSHOT_PWM_PERIOD, DSHOT_TELEMETRY_BAUD, DSHOTDriver::dshotMotors, dshotRpmCaptureStart(), dshotTlmRec(), getTimerWidth(), makeDshotPacket(), DSHOTDriver::mb, DshotPackets::onGoingQry, DSHOTDriver::pwm_conf, DSHOTConfig::pwmp, DMAConfig::stream, TICK_FREQ, TICKS_PER_PERIOD, DSHOTDriver::tlm_frame_nb, DSHOTConfig::tlm_sd, and DshotPackets::tlmMtx.

Referenced by actuators_dshot_arch_init().

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◆ dshotStop()

void dshotStop ( DSHOTDriver * driver )

stop the DSHOT driver and free the related resources : pwm driver and dma driver.

Parameters

[in] driver pointer to the DSHOTDriver object @api

Definition at line 260 of file esc_dshot.c.

References DSHOTDriver::config, DSHOTDriver::dmap, dmaStop(), dmaStopTransfert(), and DSHOTConfig::pwmp.

Referenced by dshotSendFrame().

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◆ dshotTlmRec()

static noreturn void dshotTlmRec ( void * arg )

static

Definition at line 712 of file esc_dshot.c.

References calculateCrc8(), DSHOTDriver::config, DshotTelemetryFrame::crc8, DSHOTDriver::crc_errors, DSHOT_TELEMETRY_TIMEOUT_MS, DSHOTDriver::dshotMotors, DshotPackets::dt, DshotTelemetry::frame, idx, DSHOTDriver::mb, DshotPackets::onGoingQry, DSHOTDriver::tlm_frame_nb, DSHOTConfig::tlm_sd, DshotPackets::tlmMtx, and DshotTelemetry::ts.

Referenced by dshotStart().

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◆ getTimerWidth()

static size_t getTimerWidth ( const PWMDriver * pwmp )

static

Definition at line 687 of file esc_dshot.c.

References STM32_PWM_USE_TIM2.

Referenced by buildDshotDmaBuffer(), and dshotStart().

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◆ makeDshotPacket()

static DshotPacket makeDshotPacket	(	const uint16_t	throttle,
		const bool	tlmRequest
	)

static

Definition at line 601 of file esc_dshot.c.

References logger_uart_parse::crc, and setCrc4().

Referenced by dshotStart().

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◆ setCrc4()

static void setCrc4 ( DshotPacket * dp )

static

Definition at line 587 of file esc_dshot.c.

Referenced by buildDshotDmaBuffer(), and makeDshotPacket().

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◆ setDshotPacketThrottle()

static void setDshotPacketThrottle	(	DshotPacket *const	dp,
		const uint16_t	throttle
	)

inlinestatic

Definition at line 612 of file esc_dshot.c.

Referenced by dshotSendSpecialCommand(), dshotSendThrottles(), and dshotSetThrottle().

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◆ setDshotPacketTlm()

static void setDshotPacketTlm	(	DshotPacket *const	dp,
		const bool	tlmRequest
	)

inlinestatic

Definition at line 618 of file esc_dshot.c.

Referenced by dshotSendFrame(), and dshotSendSpecialCommand().

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◆ updateCrc8()

static uint8_t updateCrc8	(	uint8_t	crc,
		uint8_t	crc_seed
	)

inlinestatic

Definition at line 653 of file esc_dshot.c.

References logger_uart_parse::crc.

Referenced by calculateCrc8().

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Macros

Functions

Detailed Description

Macro Definition Documentation

◆ ARRAY_LEN

◆ DCR_DBA

◆ DCR_DBL

◆ DSHOT_BIDIR_EXTENTED_TELEMETRY

◆ DSHOT_BIT0_DUTY

◆ DSHOT_BIT0_DUTY_RATIO

◆ DSHOT_BIT1_DUTY

◆ DSHOT_FREQ

◆ DSHOT_MAX_VALUE

◆ DSHOT_PWM_PERIOD

◆ DSHOT_TELEMETRY_BAUD

◆ DSHOT_TELEMETRY_TIMEOUT_MS

◆ Min

◆ PWM_FREQ

◆ TICK_FREQ

◆ TICKS_PER_PERIOD

Function Documentation

◆ buildDshotDmaBuffer()

◆ calculateCrc8()

◆ dshotGetCrcErrorCount()

◆ dshotGetTelemetry()

◆ dshotGetTelemetryFrameCount()

◆ dshotSendFrame()

◆ dshotSendSpecialCommand()

◆ dshotSendThrottles()

◆ dshotSetThrottle()

◆ dshotStart()

◆ dshotStop()

◆ dshotTlmRec()

◆ getTimerWidth()

◆ makeDshotPacket()

◆ setCrc4()

◆ setDshotPacketThrottle()

◆ setDshotPacketTlm()

◆ updateCrc8()