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BLHeli: fixed build without BLHeli with sim on hw #26122

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merged 7 commits into from
Mar 18, 2024
Merged

BLHeli: fixed build without BLHeli with sim on hw #26122

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92849c1
AP_BLHeli: fixed define for BLHeli support
tridge Feb 1, 2024
22d3eef
AP_IOMCU: fixed check for BLHeli support
tridge Feb 1, 2024
19cb891
AP_OSD: fixed check for BLHeli support
tridge Feb 1, 2024
3671d3d
AP_RCTelemetry: fixed check for BLHeli support
tridge Feb 1, 2024
71f1f5d
AP_IOMCU: allow building without BLHeli support
andyp1per Mar 17, 2024
e973fea
AP_RCTelemetry: convert Spektrum telemetry to use telemetry library
andyp1per Mar 17, 2024
2b72656
CI: added a 6X plane build for SOHW
tridge Mar 17, 2024
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2 changes: 1 addition & 1 deletion libraries/AP_BLHeli/AP_BLHeli.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@

#include "AP_BLHeli.h"

#ifdef HAVE_AP_BLHELI_SUPPORT
#if HAVE_AP_BLHELI_SUPPORT

#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#include <hal.h>
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4 changes: 2 additions & 2 deletions libraries/AP_BLHeli/AP_BLHeli.h
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Expand Up @@ -24,9 +24,9 @@
#include <AP_Common/AP_Common.h>
#include <AP_HAL/AP_HAL.h>

#if HAL_SUPPORT_RCOUT_SERIAL
#define HAVE_AP_BLHELI_SUPPORT HAL_SUPPORT_RCOUT_SERIAL

#define HAVE_AP_BLHELI_SUPPORT
#if HAL_SUPPORT_RCOUT_SERIAL

#include <AP_ESC_Telem/AP_ESC_Telem_Backend.h>

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7 changes: 6 additions & 1 deletion libraries/AP_IOMCU/AP_IOMCU.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
#include <AP_InternalError/AP_InternalError.h>
#include <AP_Logger/AP_Logger.h>
#include <AP_Arming/AP_Arming.h>
#include <AP_BLHeli/AP_BLHeli.h>
#include <ch.h>

extern const AP_HAL::HAL &hal;
Expand Down Expand Up @@ -118,11 +119,13 @@ void AP_IOMCU::thread_main(void)
uart.set_unbuffered_writes(true);

#if HAL_WITH_IO_MCU_BIDIR_DSHOT
AP_BLHeli* blh = AP_BLHeli::get_singleton();
uint16_t erpm_period_ms = 10; // default 100Hz
#if HAVE_AP_BLHELI_SUPPORT
AP_BLHeli* blh = AP_BLHeli::get_singleton();
if (blh && blh->get_telemetry_rate() > 0) {
erpm_period_ms = constrain_int16(1000 / blh->get_telemetry_rate(), 1, 1000);
}
#endif
#endif
trigger_event(IOEVENT_INIT);

Expand Down Expand Up @@ -409,10 +412,12 @@ void AP_IOMCU::read_erpm()
return;
}
uint8_t motor_poles = 14;
#if HAVE_AP_BLHELI_SUPPORT
AP_BLHeli* blh = AP_BLHeli::get_singleton();
if (blh) {
motor_poles = blh->get_motor_poles();
}
#endif
for (uint8_t i = 0; i < IOMCU_MAX_TELEM_CHANNELS/4; i++) {
for (uint8_t j = 0; j < 4; j++) {
const uint8_t esc_id = (i * 4 + j);
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4 changes: 2 additions & 2 deletions libraries/AP_OSD/AP_OSD_MSP.cpp
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Expand Up @@ -96,7 +96,7 @@ static const struct AP_Param::defaults_table_struct defaults_table[] = {
{ "OSD_VSPEED_X", 1.0 },
{ "OSD_VSPEED_Y", 1.0 },

#ifdef HAVE_AP_BLHELI_SUPPORT
#if HAVE_AP_BLHELI_SUPPORT
//OSD_ESC_TMP
{ "OSD_BLHTEMP_EN", 1.0 },
{ "OSD_BLHTEMP_X", 1.0 },
Expand Down Expand Up @@ -180,4 +180,4 @@ AP_OSD_Backend *AP_OSD_MSP::probe(AP_OSD &osd)
return nullptr;
}
return backend;
}
}
26 changes: 7 additions & 19 deletions libraries/AP_RCTelemetry/AP_Spektrum_Telem.cpp
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Expand Up @@ -33,9 +33,7 @@
#include <AP_Baro/AP_Baro.h>
#include <AP_RTC/AP_RTC.h>
#include <AP_SerialManager/AP_SerialManager.h>
#ifdef HAVE_AP_BLHELI_SUPPORT
#include <AP_BLheli/AP_BLHeli.h>
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don't you need a define guard in the header if you do this?

#endif
#include <AP_ESC_Telem/AP_ESC_Telem.h>
#include <math.h>

#if HAL_SPEKTRUM_TELEM_ENABLED
Expand Down Expand Up @@ -579,25 +577,15 @@ void AP_Spektrum_Telem::calc_gps_status()
// prepare ESC information - B/E
void AP_Spektrum_Telem::calc_esc()
{
#ifdef HAVE_AP_BLHELI_SUPPORT
AP_BLHeli* blh = AP_BLHeli::get_singleton();

if (blh == nullptr) {
return;
}

AP_BLHeli::telem_data td;

if (!blh->get_telem_data(0, td)) {
return;
}
#if HAL_WITH_ESC_TELEM
const volatile AP_ESC_Telem_Backend::TelemetryData& td = AP::esc_telem().get_telem_data(0); // ideally should rotate between ESCs

_telem.esc.identifier = TELE_DEVICE_ESC; // Source device = 0x20
_telem.esc.sID = 0; // Secondary ID
_telem.esc.RPM = htobe16(uint16_t(roundf(blh->get_average_motor_frequency_hz() * 60))); // Electrical RPM, 10RPM (0-655340 RPM) 0xFFFF --> "No data"
_telem.esc.voltsInput = htobe16(td.voltage); // Volts, 0.01v (0-655.34V) 0xFFFF --> "No data"
_telem.esc.tempFET = htobe16(td.temperature * 10); // Temperature, 0.1C (0-6553.4C) 0xFFFF --> "No data"
_telem.esc.currentMotor = htobe16(td.current); // Current, 10mA (0-655.34A) 0xFFFF --> "No data"
_telem.esc.RPM = htobe16(uint16_t(roundf(AP::esc_telem().get_average_motor_frequency_hz() * 60))); // Electrical RPM, 10RPM (0-655340 RPM) 0xFFFF --> "No data"
_telem.esc.voltsInput = htobe16(td.voltage * 100); // Volts, 0.01v (0-655.34V) 0xFFFF --> "No data"
_telem.esc.tempFET = htobe16(td.temperature_cdeg * 10); // Temperature, 0.1C (0-6553.4C) 0xFFFF --> "No data"
_telem.esc.currentMotor = htobe16(td.current * 100); // Current, 10mA (0-655.34A) 0xFFFF --> "No data"
_telem.esc.tempBEC = 0xFFFF; // Temperature, 0.1C (0-6553.4C) 0xFFFF --> "No data"
_telem.esc.currentBEC = 0xFF; // BEC Current, 100mA (0-25.4A) 0xFF ----> "No data"
_telem.esc.voltsBEC = 0xFF; // BEC Volts, 0.05V (0-12.70V) 0xFF ----> "No data"
Expand Down
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