esc_dshot.c File Reference

DSHOT driver based on ChibiOS. More...

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

Include dependency graph for esc_dshot.c:

Go to the source code of this file.

Macros
#define	DSHOT_SPEED   600
	Base freq of DSHOT signal (in kHz) Possible values are: 150, 300, 600, 1200. More...
#define	DSHOT_TELEMETRY_BAUD   115200
	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_TELEMETRY_TIMEOUT_MS   3
	Telemetry timeout in ms. More...
#define	PWM_FREQ   (STM32_SYSCLK/2000)
	the timer will beat @84Mhz on STM32F4 // TODO check on F7 More...
#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_FREQ   (DSHOT_SPEED*1000)
#define	TICK_FREQ   (PWM_FREQ * TICKS_PER_PERIOD)
#define	DSHOT_PWM_PERIOD   (TICK_FREQ/DSHOT_FREQ)
#define	DSHOT_BIT0_DUTY   (DSHOT_PWM_PERIOD * 373 / 1000)
#define	DSHOT_BIT1_DUTY   (DSHOT_BIT0_DUTY*2)
#define	DCR_DBL   ((DSHOT_CHANNELS-1) << 8)
#define	DCR_DBA(pwmd)   (((uint32_t *) (&pwmd->tim->CCR) - ((uint32_t *) pwmd->tim)))
#define	ARRAY_LEN(a)   (sizeof(a)/sizeof(a[0]))
#define	Min(x, y)   (x < y ? x : y)
#define	DSHOT_MAX_VALUE   ((1<<11)-1)

Functions
static DshotPacket	makeDshotPacket (const uint16_t throttle, const bool tlmRequest)
static void	setDshotPacketThrottle (DshotPacket *const dp, const uint16_t throttle)
static void	setDshotPacketTlm (DshotPacket *const dp, const bool tlmRequest)
static void	buildDshotDmaBuffer (DshotPackets *const dsp, DshotDmaBuffer *const dma, const size_t timerWidth)
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	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	dshotGetCrcErrorsCount (DSHOTDriver *driver)
	return number of telemetry crc error since dshotStart More...
const DshotTelemetry *	dshotGetTelemetry (const DSHOTDriver *driver, const uint32_t index)
	return last received telemetry data More...

Detailed Description

DSHOT driver based on ChibiOS.

Author

Alexandre Bustico 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

#define ARRAY_LEN

(

a

)

(sizeof(a)/sizeof(a[0]))

Definition at line 84 of file esc_dshot.c.

Referenced by dshotStart().

#define DCR_DBA

(

pwmd

)

(((uint32_t *) (&pwmd->tim->CCR) - ((uint32_t *) pwmd->tim)))

Definition at line 82 of file esc_dshot.c.

Referenced by dshotStart().

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

Definition at line 81 of file esc_dshot.c.

Referenced by dshotStart().

#define DSHOT_BIT0_DUTY   (DSHOT_PWM_PERIOD * 373 / 1000)

Definition at line 79 of file esc_dshot.c.

Referenced by buildDshotDmaBuffer().

#define DSHOT_BIT1_DUTY   (DSHOT_BIT0_DUTY*2)

Definition at line 80 of file esc_dshot.c.

Referenced by buildDshotDmaBuffer().

#define DSHOT_FREQ   (DSHOT_SPEED*1000)

Definition at line 76 of file esc_dshot.c.

#define DSHOT_MAX_VALUE   ((1<<11)-1)

Definition at line 87 of file esc_dshot.c.

Referenced by dshotSetThrottle().

#define DSHOT_PWM_PERIOD   (TICK_FREQ/DSHOT_FREQ)

Definition at line 78 of file esc_dshot.c.

Referenced by dshotStart().

#define DSHOT_SPEED   600

Base freq of DSHOT signal (in kHz) Possible values are: 150, 300, 600, 1200.

Definition at line 48 of file esc_dshot.c.

#define DSHOT_TELEMETRY_BAUD   115200

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 55 of file esc_dshot.c.

Referenced by dshotStart().

#define DSHOT_TELEMETRY_TIMEOUT_MS   3

Telemetry timeout in ms.

Definition at line 61 of file esc_dshot.c.

Referenced by dshotTlmRec().

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

Definition at line 85 of file esc_dshot.c.

Referenced by computeOptiTrack(), dshotSetThrottle(), e_identification_fr_init(), generic_com_periodic(), gh_set_max_speed(), gps_ubx_parse_nav_sat(), gps_ubx_parse_nav_svinfo(), gps_ubx_parse_rxm_raw(), guidance_h_traj_run(), guidance_v_from_nav(), guidance_v_guided_run(), guidance_v_run(), h_ctl_course_loop(), init_gazebo(), mavlink_send_gps_status(), mt9f002_calc_resolution(), mt9f002_set_resolution(), nav_circle(), nav_circle_XY(), nav_survey_rectangle(), nav_survey_rectangle_init(), nav_survey_rectangle_rotorcraft_run(), nav_survey_rectangle_rotorcraft_setup(), parse_xsens700_msg(), parse_xsens_msg(), syslink_put_buffer(), and tcas_periodic_task_4Hz().

#define PWM_FREQ   (STM32_SYSCLK/2000)

the timer will beat @84Mhz on STM32F4 // TODO check on F7

Definition at line 65 of file esc_dshot.c.

#define TICK_FREQ   (PWM_FREQ * TICKS_PER_PERIOD)

Definition at line 77 of file esc_dshot.c.

Referenced by dshotStart().

#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 73 of file esc_dshot.c.

Referenced by dshotStart().

Function Documentation

static void buildDshotDmaBuffer ( DshotPackets *const  dsp, DshotDmaBuffer *const  dma, const size_t  timerWidth  )

static

Definition at line 386 of file esc_dshot.c.

References DshotPackets::dp, DSHOT_BIT0_DUTY, DSHOT_BIT1_DUTY, DSHOT_BIT_WIDTHS, DSHOT_CHANNELS, DshotPacket::rawFrame, and DshotDmaBuffer::widths16.

Referenced by dshotSendFrame().

Here is the caller graph for this function:

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

static

Definition at line 428 of file esc_dshot.c.

References crc, and updateCrc8().

Referenced by dshotTlmRec().

Here is the call graph for this function:

Here is the caller graph for this function:

uint32_t dshotGetCrcErrorsCount

(

DSHOTDriver *

driver

)

return number of telemetry crc error since dshotStart

Parameters

[in]

driver

pointer to the DSHOTDriver object

Returns

number of CRC errors

Definition at line 330 of file esc_dshot.c.

References DSHOTDriver::crc_errors.

const DshotTelemetry* dshotGetTelemetry	(	const DSHOTDriver *	driver,
		const 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

pointer on a telemetry structure

Definition at line 343 of file esc_dshot.c.

References DSHOTDriver::dshotMotors, and DshotPackets::dt.

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

Definition at line 303 of file esc_dshot.c.

References buildDshotDmaBuffer(), DSHOTDriver::config, DshotPackets::currentTlmQry, DMA_READY, DSHOTDriver::dmap, dmaStartTransfert(), DshotPackets::dp, DSHOTDriver::dsdb, DSHOT_CHANNELS, DSHOT_DMA_BUFFER_SIZE, DSHOTDriver::dshotMotors, getTimerWidth(), DSHOTDriver::mb, DshotPackets::onGoingQry, DSHOTConfig::pwmp, setDshotPacketTlm(), DMADriver::state, and DSHOTConfig::tlm_sd.

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

Here is the call graph for this function:

Here is the caller graph for this function:

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

Definition at line 240 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_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.

Here is the call graph for this function:

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

Definition at line 287 of file esc_dshot.c.

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

Here is the call graph for this function:

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

Definition at line 215 of file esc_dshot.c.

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

Referenced by actuators_dshot_arch_commit().

Here is the call graph for this function:

Here is the caller graph for this function:

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.

Definition at line 122 of file esc_dshot.c.

References DSHOTDriver::_mbBuf, ARRAY_LEN, config, DSHOTDriver::config, DSHOTDriver::crc_errors, DCR_DBA, DCR_DBL, DSHOTConfig::dma_channel, DSHOTDriver::dma_conf, DMA_DIR_M2P, DSHOTConfig::dma_stream, dmaObjectInit(), DSHOTDriver::dmap, dmaStart(), DshotPackets::dp, DSHOTDriver::dsdb, DSHOT_CHANNELS, DSHOT_DMA_BUFFER_SIZE, DSHOT_PWM_PERIOD, DSHOT_TELEMETRY_BAUD, DSHOTDriver::dshotMotors, dshotTlmRec(), getTimerWidth(), makeDshotPacket(), DSHOTDriver::mb, DSHOTDriver::pwm_conf, DSHOTConfig::pwmp, DMAConfig::stream, TICK_FREQ, TICKS_PER_PERIOD, and DSHOTConfig::tlm_sd.

Referenced by actuators_dshot_arch_init().

Here is the call graph for this function:

Here is the caller graph for this function:

static noreturn void dshotTlmRec ( void *  arg )

static

Definition at line 463 of file esc_dshot.c.

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

Referenced by dshotStart().

Here is the call graph for this function:

Here is the caller graph for this function:

static size_t getTimerWidth ( const PWMDriver *  pwmp )

static

Definition at line 439 of file esc_dshot.c.

References STM32_PWM_USE_TIM2.

Referenced by dshotSendFrame(), and dshotStart().

Here is the caller graph for this function:

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

static

Definition at line 358 of file esc_dshot.c.

References crc.

Referenced by dshotStart().

Here is the caller graph for this function:

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

inlinestatic

Definition at line 375 of file esc_dshot.c.

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

Here is the caller graph for this function:

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

inlinestatic

Definition at line 381 of file esc_dshot.c.

Referenced by dshotSendFrame(), and dshotSendSpecialCommand().

Here is the caller graph for this function:

static uint8_t updateCrc8 ( uint8_t  crc, uint8_t  crc_seed  )

inlinestatic

Definition at line 416 of file esc_dshot.c.

References crc.

Referenced by calculateCrc8().

Here is the caller graph for this function: