ESC DEBUGGING

.gitignore

@@ -93,6 +93,7 @@ mav.log
 mav.log.raw
 mav.parm
 mission.stg
+output/
 /defaults.parm
 /ArduCopter/defaults.parm
 /ArduPlane/defaults.parm

Tools/AP_Periph/can.cpp

@@ -1705,6 +1705,14 @@ void AP_Periph_FW::esc_telem_update()
 #endif
 
         pkt.error_count = 0;
+        uint32_t error_count;
+        uint16_t count;
+        if (esc_telem.get_count(i, count)) {
+            pkt.error_count = count & 0xFF;
+        }
+        if (esc_telem.get_error_count(i, error_count)) {
+            pkt.error_count += (error_count & 0xFFFFFF) << 8;
+        }
 
         uint8_t buffer[UAVCAN_EQUIPMENT_ESC_STATUS_MAX_SIZE] {};
         uint16_t total_size = uavcan_equipment_esc_Status_encode(&pkt, buffer, !canfdout());

Tools/Carbonix_scripts/carbonix_waf_build.sh

@@ -6,18 +6,18 @@ set -e
 echo "Running distclean..."
 ./waf distclean
 
-main_boards=("CubeOrange" "CubeOrangePlus" "CubeOrange-Volanti" "CubeOrangePlus-Volanti" "CubeOrange-Ottano" "CubeOrangePlus-Ottano")
-for board in "${main_boards[@]}"; do
-  echo "Compiling ArduPlane for $board..."
-  ./waf configure --board "$board" -g
-  ./waf plane
-done
+# main_boards=("CubeOrange" "CubeOrangePlus" "CubeOrange-Volanti" "CubeOrangePlus-Volanti" "CubeOrange-Ottano" "CubeOrangePlus-Ottano")
+# for board in "${main_boards[@]}"; do
+#   echo "Compiling ArduPlane for $board..."
+#   ./waf configure --board "$board" -g
+#   ./waf plane
+# done
 
-periph_boards=("CarbonixF405" "CarbonixF405-no-crystal")
+periph_boards=("CarbonixF405") # "CarbonixF405-no-crystal")
 
 # Build all periph board with custom parameters
 for board in "${periph_boards[@]}"; do
-  for file in $(find libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/ -name "*.parm"); do
+  for file in $(find libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/*-M* -name "*.parm"); do
     # Extract the filename without the extension 
     filename=$(basename -- "$file")
     filename="${filename%.*}"
@@ -45,10 +45,10 @@ for board in "${periph_boards[@]}"; do
 done
 
 # Build all Default periph board
-for board in "${periph_boards[@]}"; do
-  echo "Compiling AP_Periph for $board..."
-  ./waf configure --board "$board" -g
-  ./waf AP_Periph
-done
+# for board in "${periph_boards[@]}"; do
+#   echo "Compiling AP_Periph for $board..."
+#   ./waf configure --board "$board" -g
+#   ./waf AP_Periph
+# done
 
 echo "Script completed successfully."

libraries/AP_BLHeli/AP_BLHeli.cpp

@@ -1454,8 +1454,10 @@ void AP_BLHeli::read_telemetry_packet(void)
 {
 #if HAL_WITH_ESC_TELEM
     uint8_t buf[13];
+    const uint8_t motor_idx = motor_map[last_telem_esc];
     if (telem_uart->read(buf, telem_packet_size) < telem_packet_size) {
         // short read, we should have all bytes ready when this function is called
+        // THIS LINE IS NOT ACTUALLY REACHABLE, SO WE DON'T LOG THIS (the caller already checks)
         return;
     }
 
@@ -1468,11 +1470,11 @@ void AP_BLHeli::read_telemetry_packet(void)
     if (buf[telem_packet_size-1] != crc) {
         // bad crc
         debug("Bad CRC on %u", last_telem_esc);
+        increment_error_count(motor_idx - chan_offset, 1 << 16);
         return;
     }
     // record the previous rpm so that we can slew to the new one
     uint16_t new_rpm = ((buf[7]<<8) | buf[8]) * 200 / motor_poles;
-    const uint8_t motor_idx = motor_map[last_telem_esc];
     // we have received valid data, mark the ESC as now active
     hal.rcout->set_active_escs_mask(1<<motor_idx);
 
@@ -1600,6 +1602,7 @@ void AP_BLHeli::update_telemetry(void)
         // if we have more than 10 bytes then we don't know which ESC
         // they are from. Throw them all away
         telem_uart->discard_input();
+        increment_error_count(motor_map[last_telem_esc] - chan_offset, 1);
         return;
     }
     if (nbytes > 0 &&
@@ -1615,6 +1618,7 @@ void AP_BLHeli::update_telemetry(void)
     if (nbytes > 0 && nbytes < telem_packet_size) {
         // we've waited long enough, discard bytes if we don't have 10 yet
         telem_uart->discard_input();
+        increment_error_count(motor_map[last_telem_esc] - chan_offset, 1 << 8);
         return;
     }
     if (nbytes == telem_packet_size) {

libraries/AP_DroneCAN/AP_DroneCAN.cpp

@@ -1428,16 +1428,18 @@ void AP_DroneCAN::handle_ESC_status(const CanardRxTransfer& transfer, const uavc
         .temperature_cdeg = int16_t((KELVIN_TO_C(msg.temperature)) * 100),
         .voltage = msg.voltage,
         .current = msg.current,
+        .error_count = msg.error_count,
 #if AP_EXTENDED_ESC_TELEM_ENABLED
         .power_percentage = msg.power_rating_pct,
 #endif
     };
 
-    update_rpm(esc_index, msg.rpm, msg.error_count);
+    update_rpm(esc_index, msg.rpm, 0);
     update_telem_data(esc_index, t,
         (isnan(msg.current) ? 0 : AP_ESC_Telem_Backend::TelemetryType::CURRENT)
             | (isnan(msg.voltage) ? 0 : AP_ESC_Telem_Backend::TelemetryType::VOLTAGE)
             | (isnan(msg.temperature) ? 0 : AP_ESC_Telem_Backend::TelemetryType::TEMPERATURE)
+            | AP_ESC_Telem_Backend::TelemetryType::ERROR_COUNT
 #if AP_EXTENDED_ESC_TELEM_ENABLED
             | AP_ESC_Telem_Backend::TelemetryType::POWER_PERCENTAGE
 #endif

libraries/AP_ESC_Telem/AP_ESC_Telem.cpp

@@ -326,6 +326,26 @@ bool AP_ESC_Telem::get_consumption_mah(uint8_t esc_index, float& consumption_mah
     return true;
 }
 
+// get an individual ESC's packet count if available, returns true on success
+bool AP_ESC_Telem::get_count(uint8_t esc_index, uint16_t& count) const
+{
+    if (esc_index >= ESC_TELEM_MAX_ESCS) {
+        return false;
+    }
+    count = _telem_data[esc_index].count;
+    return true;
+}
+
+// get an individual ESC's error count if available, returns true on success
+bool AP_ESC_Telem::get_error_count(uint8_t esc_index, uint32_t& error_count) const
+{
+    if (esc_index >= ESC_TELEM_MAX_ESCS) {
+        return false;
+    }
+    error_count = _telem_data[esc_index].error_count;
+    return true;
+}
+
 // get an individual ESC's usage time in seconds if available, returns true on success
 bool AP_ESC_Telem::get_usage_seconds(uint8_t esc_index, uint32_t& usage_s) const
 {
@@ -562,6 +582,9 @@ void AP_ESC_Telem::update_telem_data(const uint8_t esc_index, const AP_ESC_Telem
     if (data_mask & AP_ESC_Telem_Backend::TelemetryType::USAGE) {
         telemdata.usage_s = new_data.usage_s;
     }
+    if (data_mask & AP_ESC_Telem_Backend::TelemetryType::ERROR_COUNT) {
+        telemdata.error_count = new_data.error_count;
+    }
 
 #if AP_EXTENDED_ESC_TELEM_ENABLED
     if (data_mask & AP_ESC_Telem_Backend::TelemetryType::INPUT_DUTY) {
@@ -583,6 +606,15 @@ void AP_ESC_Telem::update_telem_data(const uint8_t esc_index, const AP_ESC_Telem
     telemdata.last_update_ms = AP_HAL::millis();
 }
 
+// callback to increment the error count in the frontend, should be called by the driver when an error occurs
+void AP_ESC_Telem::increment_error_count(const uint8_t esc_index, const uint32_t amount)
+{
+    if (esc_index >= ESC_TELEM_MAX_ESCS) {
+        return;
+    }
+    _telem_data[esc_index].error_count += amount;
+}
+
 // record an update to the RPM together with timestamp, this allows the notch values to be slewed
 // this should be called by backends when new telemetry values are available
 void AP_ESC_Telem::update_rpm(const uint8_t esc_index, const float new_rpm, const float error_rate)
@@ -652,7 +684,8 @@ void AP_ESC_Telem::update()
                     esc_temp    : telemdata.temperature_cdeg,
                     current_tot : telemdata.consumption_mah,
                     motor_temp  : telemdata.motor_temp_cdeg,
-                    error_rate  : rpmdata.error_rate
+                    error_rate  : rpmdata.error_rate,
+                    error_count : telemdata.error_count,
                 };
                 AP::logger().WriteBlock(&pkt, sizeof(pkt));
 

libraries/AP_ESC_Telem/AP_ESC_Telem.h

@@ -67,6 +67,12 @@ class AP_ESC_Telem {
     // get an individual ESC's consumption in milli-Ampere.hour if available, returns true on success
     bool get_consumption_mah(uint8_t esc_index, float& consumption_mah) const;
 
+    // get an individual ESC's packet count if available, returns true on success
+    bool get_count(uint8_t esc_index, uint16_t& count) const;
+
+    // get an individual ESC's error count if available, returns true on success
+    bool get_error_count(uint8_t esc_index, uint32_t& error_count) const;
+
 #if AP_EXTENDED_ESC_TELEM_ENABLED
     // get an individual ESC's input duty cycle if available, returns true on success
     bool get_input_duty(uint8_t esc_index, uint8_t& input_duty) const;
@@ -122,6 +128,9 @@ class AP_ESC_Telem {
     // callback to update the data in the frontend, should be called by the driver when new data is available
     void update_telem_data(const uint8_t esc_index, const AP_ESC_Telem_Backend::TelemetryData& new_data, const uint16_t data_mask);
 
+    // callback to increment the error count in the frontend, should be called by the driver when an error occurs
+    void increment_error_count(const uint8_t esc_index, const uint32_t amount);
+
 #if AP_SCRIPTING_ENABLED
     /*
       set RPM scale factor from script

libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.cpp

@@ -45,6 +45,11 @@ void AP_ESC_Telem_Backend::update_telem_data(const uint8_t esc_index, const Tele
     _frontend->update_telem_data(esc_index, new_data, data_present_mask);
 }
 
+// callback to increment the error count in the frontend, should be called by the driver when an error occurs
+void AP_ESC_Telem_Backend::increment_error_count(const uint8_t esc_index, const uint32_t amount) {
+    _frontend->increment_error_count(esc_index, amount);
+}
+
 /*
   return true if the data is stale
  */

libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h

@@ -19,6 +19,7 @@ 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
+        uint32_t error_count;       // number of errors
 #if AP_EXTENDED_ESC_TELEM_ENABLED
         uint8_t input_duty;         // input duty cycle
         uint8_t output_duty;        // output duty cycle
@@ -51,6 +52,7 @@ class AP_ESC_Telem_Backend {
         USAGE       = 1 << 5,
         TEMPERATURE_EXTERNAL = 1 << 6,
         MOTOR_TEMPERATURE_EXTERNAL  = 1 << 7,
+        ERROR_COUNT = 1 << 8,
 #if AP_EXTENDED_ESC_TELEM_ENABLED
         INPUT_DUTY  = 1 << 10,
         OUTPUT_DUTY = 1 << 11,
@@ -72,6 +74,9 @@ class AP_ESC_Telem_Backend {
     // callback to update the data in the frontend, should be called by the driver when new data is available
     void update_telem_data(const uint8_t esc_index, const TelemetryData& new_data, const uint16_t data_present_mask);
 
+    // callback to increment the error count in the frontend, should be called by the driver when an error occurs
+    void increment_error_count(const uint8_t esc_index, const uint32_t amount);
+
 private:
     AP_ESC_Telem* _frontend;
 };

libraries/AP_ESC_Telem/LogStructure.h

@@ -17,6 +17,7 @@
 // @Field: CTot: current consumed total mAh
 // @Field: MotTemp: measured motor temperature in centi-degrees C
 // @Field: Err: error rate
+// @Field: Errc: error count
 struct PACKED log_Esc {
     LOG_PACKET_HEADER;
     uint64_t time_us;
@@ -29,8 +30,9 @@ struct PACKED log_Esc {
     float current_tot;
     int16_t motor_temp;
     float error_rate;
+    uint32_t error_count;
 };
 
 #define LOG_STRUCTURE_FROM_ESC_TELEM \
     { LOG_ESC_MSG, sizeof(log_Esc), \
-      "ESC",  "QBffffcfcf", "TimeUS,Instance,RPM,RawRPM,Volt,Curr,Temp,CTot,MotTemp,Err", "s#qqvAOaO%", "F-00--BCB-" , true },
+      "ESC",  "QBffffcfcfI", "TimeUS,Instance,RPM,RawRPM,Volt,Curr,Temp,CTot,MotTemp,Err,ErrC", "s#qqvAOaO%-", "F-00--BCB-0" , true },