From a11fc0da51fdfb87c60c5ab56de8c8200f5d980b Mon Sep 17 00:00:00 2001 From: Maxim Buzdalov Date: Sat, 6 Apr 2024 21:33:07 +0100 Subject: [PATCH] AP_ESC_Telem: add support for Extended DShot Telemetry v2 --- .../IO_Firmware/iofirmware_dshot_highpolh.bin | Bin 47260 -> 47452 bytes .../IO_Firmware/iofirmware_dshot_lowpolh.bin | Bin 47260 -> 47452 bytes .../iofirmware_f103_8MHz_highpolh.bin | Bin 40600 -> 40576 bytes .../iofirmware_f103_8MHz_lowpolh.bin | Bin 40600 -> 40576 bytes .../iofirmware_f103_dshot_highpolh.bin | Bin 52756 -> 53244 bytes .../iofirmware_f103_dshot_lowpolh.bin | Bin 52756 -> 53244 bytes .../IO_Firmware/iofirmware_f103_highpolh.bin | Bin 40592 -> 40568 bytes Tools/IO_Firmware/iofirmware_f103_lowpolh.bin | Bin 40592 -> 40568 bytes Tools/IO_Firmware/iofirmware_highpolh.bin | Bin 40600 -> 40576 bytes Tools/IO_Firmware/iofirmware_lowpolh.bin | Bin 40600 -> 40576 bytes libraries/AP_ESC_Telem/AP_ESC_Telem.cpp | 112 +++++++++++++++++- libraries/AP_ESC_Telem/AP_ESC_Telem.h | 6 + libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h | 8 ++ libraries/AP_ESC_Telem/LogStructure.h | 58 ++++++++- libraries/AP_HAL/AP_HAL_Boards.h | 8 ++ libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp | 22 +++- libraries/AP_IOMCU/AP_IOMCU.cpp | 6 +- libraries/AP_IOMCU/iofirmware/iofirmware.cpp | 25 ++-- libraries/AP_IOMCU/iofirmware/ioprotocol.h | 4 + 19 files changed, 234 insertions(+), 15 deletions(-) diff --git a/Tools/IO_Firmware/iofirmware_dshot_highpolh.bin b/Tools/IO_Firmware/iofirmware_dshot_highpolh.bin index 5934290788ad07b8b5c953e7b309c95443a8c4ef..35f5b48a331534d9dc3a09a737b8df2bf668cb1c 100755 GIT binary patch delta 15240 zcmb_@d3;mF`uEJq+EPleEL~~RP$-l_TDC$#(v+Sq0SY3D0@{i|C|lVC*8~azf?Aw% zEwWf-5fHpxs8XS}YzkM=l*J1oS}tlR6+K}wr&-_cX@TqSzVH40_2%>W&OB%K<(X%m zd1kWJ$^CGfv)U-pCiNidQ)Z%$0M_02C%_+o@V~;j@qd2*HSRy@d7lvVX5bXy1Y$lV z>T8Us?*T!j_y&?oiB+8m;wfN~_Wv$C2bn5s{_pVrtn5F(6k~p^U4O1yUn-z43w1$=%^KM3GeeQ7yvF;6jsyv$C ziAU+whh*Fg&Dd-Tz8u{mlM!d&QJWCEVzbG3J9-6|I(_t%$ZC(vuk!R580t~}xvOgQ 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zsCdx|y!IKi4SF|FhmF*TzO{q@J-*L^ z&PRR<`8lP}Kn`Rj;4K51pnrB57W4=7DA%YuqGrL{0^@&c%!9f+0A=@HMcxi{0wv3r z6|KfUr?9Ckip^uwf8EXJS7KIHV8F{ULqH|40eBr~0#Zw16rdg0jPI++!+@=zn}HnA zJCW}OYJo1)bz8}Smr-{h&;fcsa0oaDY*;~t@pT{?f%CvDC|yVXJ-fPX345PKayXDa zVd+n;f0yu~2M9kL&;c<(B9IKE0+Rs|u=M5qhUoV{elMULkPly!iM#`TB1icK{Ic1* zZ+;wCWFTbC`@gw}lp%;8l|zyMNGXVt1xt$w+pv8}*h@>iHie`7dA*c+y}h&_3)qq1 ga}>X9jM~E<-eIDjv$Z=~@QOKQXAA!6iN0m~KlKj4r2qf` diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp index a82a014dedd64..0a1928d3e9d5a 100644 --- a/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp +++ b/libraries/AP_ESC_Telem/AP_ESC_Telem.cpp @@ -465,6 +465,15 @@ void AP_ESC_Telem::update_telem_data(const uint8_t esc_index, const AP_ESC_Telem telemdata.usage_s = new_data.usage_s; } +#if HAL_WANTS_EDTV2 + if (data_mask & AP_ESC_Telem_Backend::TelemetryType::EDT2_STATUS) { + telemdata.edt2_status = merge_edt2_status(telemdata.edt2_status, new_data.edt2_status); + } + if (data_mask & AP_ESC_Telem_Backend::TelemetryType::EDT2_STRESS) { + telemdata.edt2_stress = merge_edt2_stress(telemdata.edt2_stress, new_data.edt2_stress); + } +#endif + telemdata.count++; telemdata.types |= data_mask; telemdata.last_update_ms = AP_HAL::millis(); @@ -496,6 +505,59 @@ void AP_ESC_Telem::update_rpm(const uint8_t esc_index, const float new_rpm, cons #endif } +#if HAL_WANTS_EDTV2 + +// The following is based on https://github.com/bird-sanctuary/extended-dshot-telemetry. +// For the following part we explain the bits of Extended DShot Telemetry v2 status telemetry: +// - bits 0-3: the "stress level" +// - bit 5: the "error" bit (e.g. the demag event in Bluejay) +// - bit 6: the "warning" bit (e.g. the desync event in Bluejay) +// - bit 7: the "alert" bit (e.g. the stall event in Bluejay) + +// Since logger can read out telemetry values less frequently than they are updated, +// it makes sense to aggregate these status bits, and to collect the maximum observed stress level. +// To reduce the logging rate of the EDT2 messages, we will log them only once something has changed. +// To track this, we are going to (ab)use bit 15 of the field: 1 means there is something to write. + +// EDTv2 also features separate "stress" messages. +// These come more frequently, and are scaled differently (the allowed range is from 0 to 255), +// so we have to log them separately. + +constexpr uint16_t EDT2_TELEM_UPDATED = 0x8000U; +constexpr uint16_t EDT2_STRESS_0F_MASK = 0xfU; +constexpr uint16_t EDT2_STRESS_FF_MASK = 0xffU; +constexpr uint16_t EDT2_ERROR_MASK = 0x20U; +constexpr uint16_t EDT2_WARNING_MASK = 0x40U; +constexpr uint16_t EDT2_ALERT_MASK = 0x80U; +constexpr uint16_t EDT2_ALL_BITS = EDT2_ERROR_MASK | EDT2_WARNING_MASK | EDT2_ALERT_MASK; + +uint16_t AP_ESC_Telem::merge_edt2_status(uint16_t old_status, uint16_t new_status) +{ + return uint16_t( + EDT2_TELEM_UPDATED | // the highest bit "telemetry is updated" is always set + (old_status & ~EDT2_STRESS_0F_MASK) | // old status except for the stress is preserved + (new_status & EDT2_ALL_BITS) | // all new status bits are included + std::max(old_status & EDT2_STRESS_0F_MASK, new_status & EDT2_STRESS_0F_MASK) // the stress is maxed out + ); +} + +uint16_t AP_ESC_Telem::merge_edt2_stress(uint16_t old_stress, uint16_t new_stress) +{ + return uint16_t( + EDT2_TELEM_UPDATED | // the highest bit "telemetry is updated" is always set + std::max(old_stress & EDT2_STRESS_FF_MASK, new_stress & EDT2_STRESS_FF_MASK) // the stress is maxed out + ); +} + +#define EDT2_HAS_NEW_DATA(status) bool(status & EDT2_TELEM_UPDATED) +#define EDT2_STRESS_FROM_STATUS(status) uint8_t(status & EDT2_STRESS_0F_MASK) +#define EDT2_ERROR_BIT_FROM_STATUS(status) bool(edt2_status & EDT2_ERROR_MASK) +#define EDT2_WARNING_BIT_FROM_STATUS(status) bool(edt2_status & EDT2_WARNING_MASK) +#define EDT2_ALERT_BIT_FROM_STATUS(status) bool(edt2_status & EDT2_ALERT_MASK) +#define EDT2_STRESS_FROM_STRESS(stress) uint8_t(stress & EDT2_STRESS_FF_MASK) + +#endif //HAL_WANTS_EDTV2 + void AP_ESC_Telem::update() { #if HAL_LOGGING_ENABLED @@ -504,7 +566,7 @@ void AP_ESC_Telem::update() for (uint8_t i = 0; i < ESC_TELEM_MAX_ESCS; i++) { const volatile AP_ESC_Telem_Backend::RpmData &rpmdata = _rpm_data[i]; - const volatile AP_ESC_Telem_Backend::TelemetryData &telemdata = _telem_data[i]; + volatile AP_ESC_Telem_Backend::TelemetryData &telemdata = _telem_data[i]; // Push received telemetry data into the logging system if (logger && logger->logging_enabled()) { if (telemdata.last_update_ms != _last_telem_log_ms[i] @@ -541,6 +603,52 @@ void AP_ESC_Telem::update() _last_telem_log_ms[i] = telemdata.last_update_ms; _last_rpm_log_us[i] = rpmdata.last_update_us; } + +#if HAL_WANTS_EDTV2 + // Write an EDTv2 status message, if there is any update + uint16_t edt2_status = telemdata.edt2_status; + if (EDT2_HAS_NEW_DATA(edt2_status)) { + // An EDT2 status message is: + // id starts from 0 + // alert, warning, error are flags (so 0 or 1) + // stress is in [0; 15] + const struct log_Edt2 pkt_edt2{ + LOG_PACKET_HEADER_INIT(uint8_t(LOG_EDT2_MSG)), + time_us : now_us64, + instance : i, + alert : EDT2_ALERT_BIT_FROM_STATUS(edt2_status), + warning : EDT2_WARNING_BIT_FROM_STATUS(edt2_status), + error : EDT2_ERROR_BIT_FROM_STATUS(edt2_status), + max_stress : EDT2_STRESS_FROM_STATUS(edt2_status) + }; + if (AP::logger().WriteBlock_first_succeed(&pkt_edt2, sizeof(pkt_edt2))) { + // Only clean the status if the write succeeded. + // This is important because, if rate limiting is enabled, + // the log-on-change behavior may lose a lot of entries + telemdata.edt2_status = 0; + } + } + + // Write an EDTv2 stress value, if there is any update + uint16_t edt2_stress = telemdata.edt2_stress; + if (EDT2_HAS_NEW_DATA(edt2_stress)) { + // An EDTS stress message is: + // id starts from 0 + // stress is in [0; 255] + const struct log_Edts pkt_edts{ + LOG_PACKET_HEADER_INIT(uint8_t(LOG_EDTS_MSG)), + time_us : now_us64, + instance : i, + stress : EDT2_STRESS_FROM_STRESS(edt2_stress) + }; + if (AP::logger().WriteBlock_first_succeed(&pkt_edts, sizeof(pkt_edts))) { + // Only clean the stress if the write succeeded. + // This is important because, if rate limiting is enabled, + // the log-on-change behavior may lose a lot of entries + telemdata.edt2_stress = 0; + } + } +#endif // HAL_WANTS_EDTV2 } } #endif // HAL_LOGGING_ENABLED @@ -605,4 +713,4 @@ AP_ESC_Telem &esc_telem() }; -#endif +#endif // HAL_WITH_ESC_TELEM diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem.h b/libraries/AP_ESC_Telem/AP_ESC_Telem.h index ae40ede597079..b50f056d3e5be 100644 --- a/libraries/AP_ESC_Telem/AP_ESC_Telem.h +++ b/libraries/AP_ESC_Telem/AP_ESC_Telem.h @@ -118,6 +118,12 @@ class AP_ESC_Telem { static bool rpm_data_within_timeout (const volatile AP_ESC_Telem_Backend::RpmData &instance, const uint32_t now_us, const uint32_t timeout_us); static bool was_rpm_data_ever_reported (const volatile AP_ESC_Telem_Backend::RpmData &instance); +#if HAL_WANTS_EDTV2 + // helpers that aggregate data in EDTv2 messages + static uint16_t merge_edt2_status(uint16_t old_status, uint16_t new_status); + static uint16_t merge_edt2_stress(uint16_t old_stress, uint16_t new_stress); +#endif + // rpm data volatile AP_ESC_Telem_Backend::RpmData _rpm_data[ESC_TELEM_MAX_ESCS]; // telemetry data diff --git a/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h b/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h index b6d6725a55fa1..be189446a3260 100644 --- a/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h +++ b/libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h @@ -19,6 +19,10 @@ class AP_ESC_Telem_Backend { uint32_t last_update_ms; // last update time in milliseconds, determines whether active uint16_t types; // telemetry types present uint16_t count; // number of times updated +#if HAL_WANTS_EDTV2 + uint16_t edt2_status; // status reported by Extended DShot Telemetry v2 + uint16_t edt2_stress; // stress reported in dedicated messages by Extended DShot Telemetry v2 +#endif // return true if the data is stale bool stale(uint32_t now_ms=0) const volatile; @@ -42,6 +46,10 @@ class AP_ESC_Telem_Backend { USAGE = 1 << 5, TEMPERATURE_EXTERNAL = 1 << 6, MOTOR_TEMPERATURE_EXTERNAL = 1 << 7, +#if HAL_WANTS_EDTV2 + EDT2_STATUS = 1 << 8, + EDT2_STRESS = 1 << 9, +#endif }; diff --git a/libraries/AP_ESC_Telem/LogStructure.h b/libraries/AP_ESC_Telem/LogStructure.h index a3c0dc791cd3d..8245ea8f3d403 100644 --- a/libraries/AP_ESC_Telem/LogStructure.h +++ b/libraries/AP_ESC_Telem/LogStructure.h @@ -2,8 +2,15 @@ #include +#if HAL_WANTS_EDTV2 +#define LOG_IDS_FROM_ESC_TELEM \ + LOG_ESC_MSG, \ + LOG_EDT2_MSG, \ + LOG_EDTS_MSG +#else #define LOG_IDS_FROM_ESC_TELEM \ LOG_ESC_MSG +#endif // @LoggerMessage: ESC // @Description: Feedback received from ESCs @@ -31,6 +38,53 @@ struct PACKED log_Esc { float error_rate; }; -#define LOG_STRUCTURE_FROM_ESC_TELEM \ - { LOG_ESC_MSG, sizeof(log_Esc), \ +#if HAL_WANTS_EDTV2 +// @LoggerMessage: EDT2 +// @Description: Status received from ESCs via Extended DShot telemetry v2 +// @Field: TimeUS: microseconds since system startup +// @Field: Instance: ESC instance number +// @Field: Alert: the "alert" status bit +// @Field: Warning: the "warning" status bit +// @Field: Error: the "error" status bit +// @Field: MaxStress: the maximum stress level observed for this ESC, scaled to [0..15] +struct PACKED log_Edt2 { + LOG_PACKET_HEADER; + uint64_t time_us; + uint8_t instance; + uint8_t alert; + uint8_t warning; + uint8_t error; + uint8_t max_stress; +}; + +// @LoggerMessage: EDTS +// @Description: Stress values received from ESCs via Extended DShot telemetry v2 +// @Field: TimeUS: microseconds since system startup +// @Field: Instance: ESC instance number +// @Field: Stress: the stress value observed for this ESC, scaled to [0..255] +struct PACKED log_Edts { + LOG_PACKET_HEADER; + uint64_t time_us; + uint8_t instance; + uint8_t stress; +}; +#endif // HAL_WANTS_EDTV2 + +#define LOG_ESC_MSG_STRUCTURE { LOG_ESC_MSG, sizeof(log_Esc), \ "ESC", "QBffffcfcf", "TimeUS,Instance,RPM,RawRPM,Volt,Curr,Temp,CTot,MotTemp,Err", "s#qqvAOaO%", "F-00--BCB-" , true }, + +#define LOG_EDT2_MSG_STRUCTURE { LOG_EDT2_MSG, sizeof(log_Edt2), \ + "EDT2", "QBBBBB", "TimeUS,Instance,Alert,Warning,Error,MaxStress", "s#----", "F-----" , true }, + +#define LOG_EDTS_MSG_STRUCTURE { LOG_EDTS_MSG, sizeof(log_Edts), \ + "EDTS", "QBB", "TimeUS,Instance,Stress", "s#-", "F--", true }, + +#if HAL_WANTS_EDTV2 +#define LOG_STRUCTURE_FROM_ESC_TELEM \ + LOG_ESC_MSG_STRUCTURE \ + LOG_EDT2_MSG_STRUCTURE \ + LOG_EDTS_MSG_STRUCTURE +#else +#define LOG_STRUCTURE_FROM_ESC_TELEM \ + LOG_ESC_MSG_STRUCTURE +#endif diff --git a/libraries/AP_HAL/AP_HAL_Boards.h b/libraries/AP_HAL/AP_HAL_Boards.h index 5ba862d7ef177..3823b2f1fa665 100644 --- a/libraries/AP_HAL/AP_HAL_Boards.h +++ b/libraries/AP_HAL/AP_HAL_Boards.h @@ -179,6 +179,14 @@ #define HAL_WITH_IO_MCU_DSHOT HAL_WITH_IO_MCU_BIDIR_DSHOT #endif +#ifndef HAL_REQUIRES_BDSHOT_SUPPORT +#define HAL_REQUIRES_BDSHOT_SUPPORT (defined(HAL_WITH_BIDIR_DSHOT) || HAL_WITH_IO_MCU_BIDIR_DSHOT) +#endif + +#ifndef HAL_WANTS_EDTV2 +#define HAL_WANTS_EDTV2 HAL_REQUIRES_BDSHOT_SUPPORT +#endif + // this is used as a general mechanism to make a 'small' build by // dropping little used features. We use this to allow us to keep // FMUv2 going for as long as possible diff --git a/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp b/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp index cb1c04e29d574..b21d910c66454 100644 --- a/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp +++ b/libraries/AP_HAL_ChibiOS/RCOutput_bdshot.cpp @@ -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 && HAL_WANTS_EDTV2 + 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 && HAL_WANTS_EDTV2 + 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; } diff --git a/libraries/AP_IOMCU/AP_IOMCU.cpp b/libraries/AP_IOMCU/AP_IOMCU.cpp index fefa91ebf0377..6d8ed8d95f3bd 100644 --- a/libraries/AP_IOMCU/AP_IOMCU.cpp +++ b/libraries/AP_IOMCU/AP_IOMCU.cpp @@ -453,7 +453,11 @@ void AP_IOMCU::read_telem() TelemetryData t { .temperature_cdeg = int16_t(telem->temperature_cdeg[i]), .voltage = float(telem->voltage_cvolts[i]) * 0.01, - .current = float(telem->current_camps[i]) * 0.01 + .current = float(telem->current_camps[i]) * 0.01, +#if HAL_WANTS_EDTV2 + .edt2_status = telem->edt2_status[i], + .edt2_stress = telem->edt2_stress[i], +#endif }; update_telem_data(esc_group * 4 + i, t, telem->types[i]); } diff --git a/libraries/AP_IOMCU/iofirmware/iofirmware.cpp b/libraries/AP_IOMCU/iofirmware/iofirmware.cpp index 6e97fa4cf2714..172038059131b 100644 --- a/libraries/AP_IOMCU/iofirmware/iofirmware.cpp +++ b/libraries/AP_IOMCU/iofirmware/iofirmware.cpp @@ -635,25 +635,34 @@ void AP_IOMCU_FW::telem_update() uint32_t now_ms = AP_HAL::millis(); for (uint8_t i = 0; i < IOMCU_MAX_TELEM_CHANNELS/4; i++) { + struct page_dshot_telem &dshot_i = dshot_telem[i]; for (uint8_t j = 0; j < 4; j++) { const uint8_t esc_id = (i * 4 + j); if (esc_id >= IOMCU_MAX_TELEM_CHANNELS) { continue; } - dshot_telem[i].error_rate[j] = uint16_t(roundf(hal.rcout->get_erpm_error_rate(esc_id) * 100.0)); + dshot_i.error_rate[j] = uint16_t(roundf(hal.rcout->get_erpm_error_rate(esc_id) * 100.0)); #if HAL_WITH_ESC_TELEM const volatile AP_ESC_Telem_Backend::TelemetryData& telem = esc_telem.get_telem_data(esc_id); // if data is stale then set to zero to avoid phantom data appearing in mavlink if (now_ms - telem.last_update_ms > ESC_TELEM_DATA_TIMEOUT_MS) { - dshot_telem[i].voltage_cvolts[j] = 0; - dshot_telem[i].current_camps[j] = 0; - dshot_telem[i].temperature_cdeg[j] = 0; + dshot_i.voltage_cvolts[j] = 0; + dshot_i.current_camps[j] = 0; + dshot_i.temperature_cdeg[j] = 0; +#if HAL_WANTS_EDTV2 + dshot_i.edt2_status[j] = 0; + dshot_i.edt2_stress[j] = 0; +#endif continue; } - dshot_telem[i].voltage_cvolts[j] = uint16_t(roundf(telem.voltage * 100)); - dshot_telem[i].current_camps[j] = uint16_t(roundf(telem.current * 100)); - dshot_telem[i].temperature_cdeg[j] = telem.temperature_cdeg; - dshot_telem[i].types[j] = telem.types; + dshot_i.voltage_cvolts[j] = uint16_t(roundf(telem.voltage * 100)); + dshot_i.current_camps[j] = uint16_t(roundf(telem.current * 100)); + dshot_i.temperature_cdeg[j] = telem.temperature_cdeg; +#if HAL_WANTS_EDTV2 + dshot_i.edt2_status[j] = uint8_t(telem.edt2_status); + dshot_i.edt2_stress[j] = uint8_t(telem.edt2_stress); +#endif + dshot_i.types[j] = telem.types; #endif } } diff --git a/libraries/AP_IOMCU/iofirmware/ioprotocol.h b/libraries/AP_IOMCU/iofirmware/ioprotocol.h index 9e13fafc48478..db700f22cc244 100644 --- a/libraries/AP_IOMCU/iofirmware/ioprotocol.h +++ b/libraries/AP_IOMCU/iofirmware/ioprotocol.h @@ -221,4 +221,8 @@ struct page_dshot_telem { uint16_t current_camps[4]; uint16_t temperature_cdeg[4]; uint16_t types[4]; +#if HAL_WANTS_EDTV2 + uint8_t edt2_status[4]; + uint8_t edt2_stress[4]; +#endif };