Add support for DShot in IOFirmware #21569

bugobliterator · 2022-08-29T07:23:36Z

To select Dshot IO firmware, set BRD_IO_DSHOT 1 and then reboot. That will load dshot firmware to iomcu.

Supported features:

DShot 150 / DShot 300 / OneShot 125
DShot telemetry via UART
DShot commands, including motor reversing
SERVO_DSHOT_ESC types
SERVO_DSHOT_RATE

ArduCopter/config.h

libraries/AP_BoardConfig/AP_BoardConfig.cpp

libraries/AP_HAL/AP_HAL_Boards.h

libraries/AP_HAL/RCOutput.cpp

libraries/AP_HAL_ChibiOS/RCOutput.cpp

libraries/AP_HAL_ChibiOS/RCOutput.h

libraries/AP_IOMCU/iofirmware/iofirmware.cpp

libraries/AP_IOMCU/iofirmware/iofirmware.h

tridge · 2022-09-28T08:44:13Z

libraries/AP_HAL_ChibiOS/RCOutput.cpp

        (mask & ((1U<<chan_offset)-1)) &&
        AP_BoardConfig::io_enabled()) {
        iomcu_mode = mode;
-        iomcu.set_brushed_mode();
+        iomcu.set_output_mode(mask, mode);


need some testing of oneshot and brushed output with IOMCU to ensure we do get the right update rate

oneshot and oneshot125 verified

libraries/AP_HAL_ChibiOS/RCOutput.cpp

libraries/AP_RCProtocol/AP_RCProtocol.cpp

andyp1per

Need to test on L431 AP_Periph as I am not quite sure the DMA advanced changes are correct

libraries/AP_HAL_ChibiOS/RCOutput.cpp

libraries/AP_HAL_ChibiOS/RCOutput.h

andyp1per

I can't see that any of my original comments have been addressed

andyp1per · 2023-05-22T14:17:04Z

Rebased

add support for dshot on iomcu add support for updating to dshot iofirmware

use HAL_ENABLE_DSHOT instead of DISABLE_DSHOT

libraries/AP_HAL_ChibiOS/RCOutput.h

tridge · 2023-05-31T08:28:39Z

@andyp1per I will do some testing of this soon, thanks!

add support for selectively disabling serial LEDs and passthrough provide mutator to allow iomcu to set dshot rate support HAL_SERIAL_ESC_COMM_ENABLED and DISABLE_SERIAL_ESC_COMM update dshot docs make default serial led enablement dependent on dshot

set timer counter size to be a byte wide use HAL_DSHOT_ENABLED instead of DISABLE_DSHOT build iomcu-dshot from existing iomcu correct defines for DMAR size on iomcu allow iomcu dshot rate to be configured from FMU correct DMA allocation for dshot on iomcu allow debug builds on iofirmware ensure dshot is enabled on iomcu dshot support proper iomcu dshot output thread triggered by FMU allow selective disablement of serial LEDs and passthrough disable serial LEDs and passthrough on iomcu-dshot propagate ESC telemetry to iomcu dshot_send_groups() for iomcu remove use of ICU on iomcu for dshot. only allocate possible DMA channels rename serial passthrough and dshot defines update dshot docs resize dshot iomcu main stack to minimum correct dshot prescaler usage and bit_width_mul calculation use ChibiOS in tickless mode on iomcu-dshot so that virtual timers can be used propagate dshot commands to iomcu passthrough oneshot125 to iomcu

tridge · 2023-06-02T04:15:11Z

notes from my testing:

if DShot600 doesn't work then it should be refused, not generate corrupt output
looks like a soft reboot of FMU doesn't change pwm_type in iomcu? It needs to

why the gap? should be 4 channels on timer 3

quadplane, standard channels, DShot300 on 5-8, seem to be missing elevator on ch2?

andyp1per · 2023-06-02T07:03:06Z

@tridge can you post the config you used?

For the "gap" - I'm not sure what I am looking at - can you expand?

andyp1per · 2023-06-05T12:28:25Z

Not being able to change dshot mode once set without a power cycle is an existing dshot problem that I would like to address in a separate PR since the DMA enablement code is quite hairy

implement dshot ESC telemetry add support for channel enablement/disablement add stack checks and reporting for MSP stack wait correct timeout in tickless mode ensure that dshot sees all pwm updates as the occur in order to maintain periodicity ensure dshot options are propagated on reset implement dshot commands ensure oneshot/125 and mode are setup correctly add instrumentation for process stack prevent illegal recursive locks ignore requests for dshot 600 add support for soft reboot of iomcu

andyp1per · 2023-06-19T11:05:14Z

Tested on cubeblack 1-2,5-6

bugobliterator requested review from andyp1per and tridge August 29, 2022 07:23

bugobliterator force-pushed the pr-dshot-iofirmware branch from 4798f64 to 7697122 Compare August 29, 2022 07:25

peterbarker reviewed Aug 30, 2022

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bugobliterator force-pushed the pr-dshot-iofirmware branch from 7697122 to cabee0a Compare September 28, 2022 05:53

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bugobliterator force-pushed the pr-dshot-iofirmware branch from b9c58ab to 70414b5 Compare September 28, 2022 06:01

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bugobliterator force-pushed the pr-dshot-iofirmware branch 3 times, most recently from 9823f65 to 6a32bdd Compare October 8, 2022 02:54

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andyp1per force-pushed the pr-dshot-iofirmware branch from 6a32bdd to dabf1da Compare May 22, 2023 14:17

andyp1per force-pushed the pr-dshot-iofirmware branch 3 times, most recently from c92aada to 39bba9a Compare May 23, 2023 19:35

Hwurzburg added the WikiNeeded needs wiki update label May 27, 2023

bugobliterator added 4 commits May 30, 2023 21:06

AP_IOMCU: add support for sending DShot function command

ba6ffb5

add support for dshot on iomcu add support for updating to dshot iofirmware

Copter: use DISABLE_DSHOT value instead of if defined

3acb18c

AP_BoardConfig: add ability to change dshot firmware

ea2a2c4

AP_HAL: add default DISABLE_DSHOT as false

3f71ea4

use HAL_ENABLE_DSHOT instead of DISABLE_DSHOT

andyp1per force-pushed the pr-dshot-iofirmware branch from 2ba5f65 to 1e24ad1 Compare May 30, 2023 20:06

bugobliterator and others added 2 commits May 30, 2023 21:11

ArduCopter: use HAL_ENABLE_DSHOT instead of DISABLE_DSHOT

92ad977

AP_Math: do not use internal_error() on iofirmware

70217b0

andyp1per added ChibiOS DevCallEU labels May 30, 2023

tridge requested changes May 31, 2023

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libraries/AP_HAL_ChibiOS/RCOutput.h Outdated Show resolved Hide resolved

tridge removed the DevCallEU label May 31, 2023

andyp1per requested a review from tridge May 31, 2023 21:35

andyp1per and others added 7 commits May 31, 2023 22:36

AP_BoardConfig: check IOMCU is enabled when checking dshot

903a623

AP_SerialLED: configure serial LED feature based on hal availability

04320f5

Copter: rename dshot define

ae871a0

AP_BLHeli: normalize motor index correctly for iomcu running dshot

94434e9

AP_HAL_ChibiOS: add global interrupt handlers for TIM15 and TIM17 on F1

5eebbac

andyp1per force-pushed the pr-dshot-iofirmware branch from c8ed8a1 to 4a48477 Compare May 31, 2023 21:37

andyp1per added the DevCallEU label Jun 5, 2023

andyp1per mentioned this pull request Jun 5, 2023

Dshot on iomcu #23974

Merged

tridge removed the DevCallEU label Jun 7, 2023

andyp1per and others added 5 commits June 8, 2023 16:43

AP_HAL_ChibiOS: fix sending of dshot commands to all channels

556c4f5

AP_Vehicle: soft reboot iomcu on soft reboot

6d6beb8

AP_HAL_ChibiOS: disable stack checking on iomcu

bb40e89

IO_Firmware: dshot iofirmware and build script

5a0918f

andyp1per force-pushed the pr-dshot-iofirmware branch from c6cdcae to 5a0918f Compare June 8, 2023 15:44

andyp1per added the DevCallEU label Jun 19, 2023

tridge removed the DevCallEU label Jun 21, 2023

bugobliterator closed this Oct 25, 2023

Add support for DShot in IOFirmware #21569

Add support for DShot in IOFirmware #21569

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