Bi-directional dshot on iomcu F103

libraries/AP_BLHeli/AP_BLHeli.cpp

@@ -134,7 +134,7 @@ const AP_Param::GroupInfo AP_BLHeli::var_info[] = {
     // @RebootRequired: True
     AP_GROUPINFO("3DMASK",  10, AP_BLHeli, channel_reversible_mask, 0),
 
-#ifdef HAL_WITH_BIDIR_DSHOT
+#if defined(HAL_WITH_BIDIR_DSHOT) || HAL_WITH_IO_MCU_BIDIR_DSHOT
     // @Param: BDMASK
     // @DisplayName: BLHeli bitmask of bi-directional dshot channels
     // @Description: Mask of channels which support bi-directional dshot. This is used for ESCs which have firmware that supports bi-directional dshot allowing fast rpm telemetry values to be returned for the harmonic notch.
@@ -1409,6 +1409,8 @@ void AP_BLHeli::init(uint32_t mask, AP_HAL::RCOutput::output_mode otype)
 #ifdef HAL_WITH_BIDIR_DSHOT
     // possibly enable bi-directional dshot
     hal.rcout->set_motor_poles(motor_poles);
+#endif
+#if defined(HAL_WITH_BIDIR_DSHOT) || HAL_WITH_IO_MCU_BIDIR_DSHOT
     hal.rcout->set_bidir_dshot_mask(uint32_t(channel_bidir_dshot_mask.get()) & digital_mask);
 #endif
     // add motors from channel mask

libraries/AP_BLHeli/AP_BLHeli.h

@@ -54,6 +54,8 @@ class AP_BLHeli : public AP_ESC_Telem_Backend {
     }
 
     uint32_t get_bidir_dshot_mask() const { return channel_bidir_dshot_mask.get(); }
+    uint8_t get_motor_poles() const { return motor_poles.get(); }
+    uint16_t get_telemetry_rate() const { return telem_rate.get(); }
 
     static AP_BLHeli *get_singleton(void) {
         return _singleton;

libraries/AP_ESC_Telem/AP_ESC_Telem.cpp

@@ -49,7 +49,9 @@ AP_ESC_Telem::AP_ESC_Telem()
         AP_HAL::panic("Too many AP_ESC_Telem instances");
     }
     _singleton = this;
+#if !defined(IOMCU_FW)
     AP_Param::setup_object_defaults(this, var_info);
+#endif
 }
 
 // return the average motor RPM
@@ -416,7 +418,7 @@ void AP_ESC_Telem::update_telem_data(const uint8_t esc_index, const AP_ESC_Telem
     // can only get slightly more up-to-date information that perhaps they were expecting or might
     // read data that has just gone stale - both of these are safe and avoid the overhead of locking
 
-    if (esc_index >= ESC_TELEM_MAX_ESCS) {
+    if (esc_index >= ESC_TELEM_MAX_ESCS || data_mask == 0) {
         return;
     }
 

libraries/AP_ESC_Telem/AP_ESC_Telem.h

@@ -32,6 +32,11 @@ class AP_ESC_Telem {
     // get an individual ESC's raw rpm if available
     bool get_raw_rpm(uint8_t esc_index, float& rpm) const;
 
+    // get raw telemetry data, used by IOMCU
+    const volatile AP_ESC_Telem_Backend::TelemetryData& get_telem_data(uint8_t esc_index) const {
+        return _telem_data[esc_index];
+    }
+
     // return the average motor RPM
     float get_average_motor_rpm(uint32_t servo_channel_mask) const;
 

libraries/AP_HAL/AP_HAL_Boards.h

@@ -170,8 +170,12 @@
 #define HAL_WITH_IO_MCU 0
 #endif
 
+#ifndef HAL_WITH_IO_MCU_BIDIR_DSHOT
+#define HAL_WITH_IO_MCU_BIDIR_DSHOT 0
+#endif
+
 #ifndef HAL_WITH_IO_MCU_DSHOT
-#define HAL_WITH_IO_MCU_DSHOT 0
+#define HAL_WITH_IO_MCU_DSHOT HAL_WITH_IO_MCU_BIDIR_DSHOT
 #endif
 
 // this is used as a general mechanism to make a 'small' build by

libraries/AP_HAL/RCOutput.h

@@ -154,6 +154,11 @@ class AP_HAL::RCOutput {
      */
     virtual uint16_t get_erpm(uint8_t chan) const { return 0; }
     virtual float get_erpm_error_rate(uint8_t chan) const { return 100.0f; }
+    /*
+      allow all erpm values to be read and for new updates to be detected - primarily for IOMCU
+     */
+    virtual bool  new_erpm() { return false; }
+    virtual uint32_t  read_erpm(uint16_t* erpm, uint8_t len) { return 0; }
 
     /*
       enable PX4IO SBUS out at the given rate