ESC Setup / programming (bidirectional telemetry / forward programming) - implemented for YGE and Scorpion ESCs #108

bob01 · 2024-04-28T05:30:52Z

ESC setup / programming (forward programming) using the Tx via bidirectional telemetry #101, includes #78

Complete for YGE and Scorpion ESCs.
HobbyWing V5 in the works, POC looking good -available soon if no showstoppers.

Both implemented on a common request / response finite state machine (rrfsm) which handles bidirectional and unidirectional communication with the ESC. Adding other ESC protocols is relatively easy.
Common ESC parameter read(collection) and write pattern
Common MSP transport w/ opaque payload serving all supported ESC between FC and Tx,
ie transport is common, serialization/deserialization of payload at FC is part of per ESC support code.
Transmitter tools are outside the scope of this project - per manufacturer scripts not tied to RF release cycle.
Working reference implementations for YGE, Scorpion and HobbyWing (soon) are provided.

Configuration

enable one-wire bidirectional (half-duplex) communication on ESC telemetry sensor port
set esc_sensor_halfduplex = ON
half duplex operation requires the ESC to be connected to the Tx pin instead of the Rx pin
Instead of modifying our telemetry cables we opt to address this with resource configuration as some of our chosen flight controllers don't have Tx pins on some uarts and we don't want to create non-standard telemetry cables.
e.g. for FDF722 v2
# resources
resource SERIAL_RX 3 NONE
resource SERIAL_TX 3 C11

Code

escSensorInit: sets callback to function returned by protocol initialization method which shall initialize protocol and rrfsm as appropriate for half or full duplex operation. rrfsmDataReceive usually returned.
escSensorProcess: delegates to rrfsmSensorProcess(...) which is a basic FSM which...
- handles reporting of sync, crc errors, timeouts, frame counts
- sequencing write activity
- delegating configured handlers for accepting and decoding incoming character stream
- handling self echo on writes
no protocol specific code here.
2x new MSP commands
- MSP_ESC_PARAMETERS (217)
  Writes paramBuffer if complete set of ESC parameters received from device and ready for editing, false otherwise
- MSP_SET_ESC_PARAMETERS (218)
  Reads into paramUpdBuffer then calls paramCommit callback (configured in protocol init) which returns true on success or false otherwise
Common parameter patterns
- interface is paramBuffer, paramUpdBuffer, paramPayloadLength and paramCommit(...)
- paramBuffer and paramUpdBuffer are exchanged by MSP as described above. There is a short header which contains
  - ESC specific signature: detects mis-matches between ESC and Tx app (Lua script for RadioMaster)
  - flags+version: param protocol version, read-only flag, user option (e.g. ESC reset)
- protocol is considered to be in 'readonly' mode if paramCommit is not set (say if esc_sensor_halfduplex == OFF).
  UI shall not display 'Save' or 'User' options in this case
- parameters collected / read from ESC in to paramBuffer
- parameters considered 'ready' only when complete set available, protocol indicates ready by setting paramPayloadLength to the length of data in paramBuffer, 0 otherwise.
  UI shall display 'ESC not ready...' in this case
- protocol's paramCommit implementation shall perform change detection between paramUpdBuffer received from MSP and paramBuffer to avoid unnecessary write operations against the ESC. Dirty parameters shall be indicated.
Common RRFSM pattern
- configurable boot delay as most ESCs take several seconds to fully initialize
- assuming the master role
  - if ESC starts sending frames after init FC shall wait for first frame and send first request shortly after. This avoids the need for collision detection. Specific examples below.
  - if ESC starts in slave mode FC shall send first request during initial quiet time
- next request is scheduled for frame-period after previous response. Pending requests are sent one at a time until there are none remaining in the following order...
  - special commands like ESC reset if supported / needed are first
  - pending ESC write requests to update parameters flagged dirty are scheduled next. Dirty flag is immediately reset - there are no retries.
  - pending ESC read requests to fetch stale or missing parameters are scheduled next
  - request next telemetry frame if nothing else

Each ESC's behaviour, capabilities and parameter set is different - discussed below

YGE support

configure FC and ESC telemetry protocol as "OpenYGE"
Requires OpenYGE v3 (FW 1.03551) or later
initializes in AUTO_TELE mode and begins sending unsolicited TELE_AUTO packets (like full duplex operation)
FC assumes master role after receipt of first TELE_AUTO packet and sends the first TELE_REQ packet
(unless is < v3 packet in which case FC reverts to AUTO_TELE mode and will not try to assume master role until next bootup)
ESC assumes slave role, stops send unsolicited packets and responds with TELE_RESP packet
FC schedules next TELE_REQ request on receiving response for next frame period. Exact timing is imprecise '38' was found to produce a result close enough to 50ms frame period
each REQ packet header contains a rotating sequence number, matching response header will include this seq number
YGE parameters are 16 bit indexed values. v3 defines 32
ESC sends 1 parameter round-robin with each telemetry packet so complete collection is received in about 32 x 50ms in 1600ms. There is no need for an explicit 'get parameter(s)' request. Collection is made available to MSP when all have been received.
oygeParamCommit(...) applies change detection to avoid unnecessary writes, sets each. changed parameter's dirty bit and invalidates it in the parameter collection, collection is now unavailable to MSP
FC schedules WRITE_PARAM_REQ (instead of TELE_REQ) for dirty param and clears param's dirty bit - there are no retries
ESC responds with WRITE_PARAM_RESP which is exactly the same format as regular TELE_RESP but will break the parameter round-robin and include the parameter value just written. Parameter is cached as before and if collection is complete it is once again made available to MSP
User may view and change parameters at any time when safe to do so (on the ground/disamed recommended of course).
Changes are immediate, no restart required - can be done as often as needed, e.g. setup, flight tuning internal gov PIDs etc.
Note: ESC will ignore write requests if the motor is turning
Note: All ESC responses are in the same frame format w/ TELE_AUTO being slightly different as it's seq # will always be 0.
Note: ESC sends parameters even in AUTO_TELE mode ie these can be viewed on the Tx (read only MSP) even if when serial port not configured for bidirectional communication

Scorpion Tribunus

Requires v63 or later
configure FC and ESC telemetry protocol as 'UNC'
initial req / response implementation as per documentation for 'Scorpion' protocol was functional but contents were encrypted so was set aside and later removed in favour of UNC workaround - may be revisit later
ESC waits for ~ 10 seconds after power on, if a request to read status region is received during this time it will abort entry to UNC mode permanently / until reset
if undisturbed ESC enters UNC mode, starts sending telemetry data and stops respond to requests, just like before
if MSP activity is detected during this quiet time flag paramMspActive is set
UNCSETUPFSM detects paramMspActive and sends a READ_STATUS request - response confirms that UNC was successfully stopped, UNCSETUPFSM into ACTIVE state
UNCSETUPFSM triggers the next request pattern as needed. Once triggered the next request is triggered by the previous response until there are no more
- commands first
- parameter writes, next
- parameter reads
- back to UNCSETUPFSM
paramBuffer is packed with ranges of parameters from multiple regions - these ranges are declared in tribParamAddrLen
entries from tribParamAddrLen are used...
- to build ESC read requests - each entry specifying region, address and length - results are packed into paramBuffer for MSP, parameters made available when collection is complete
- perform change detection on paramUpdBuffer in paramCommit(...) and later build ESC write requests from changes unpacked from paramUpdBuffer from MSP
User must be ready to enter any page in the Tx app ASAP to abort UNC to view and change parameters therefore this option is available only at startup.
Restart required to apply changes and restart UNC telemetry data
'ESC Reset' provided as param 'user option' and is presented along with 'Save' on menu
There is a certain interesting thing that can be done because this setup communication happens outside of the ESC's configured protocol

Testing

YGE: Tested w/ several 205HV, 135 Aureus v1 and v2's since mid-March - has been in general use in more than 6 helis for the last month or so.
Scorpion: Tested w/ 80A and 130A ESCs (v63) in 2 helis since late Feb
No known outstanding issues with either.

UI for YGE

UI for Scorpion - connect to Scorpion ASAP on startup, reset when done (power cycle or use menu option)

…mp time

…BUG_DATA_EXTRA is BEC voltage

…ture sensors), bec_voltage and bec_current

…capture of non-standard data (for ESC's with additional temperature sensors, status codes, error flags etc)

…ETX settings (ratio etc) with recognizable values for ESC supplied reuse sources

* esc_sensor_openyge: OpenYGE - frame updates for frame version 1 # Conflicts: # src/main/sensors/esc_sensor.c

…or greater

* esc_sensor_openyge: OpenYGE - final protocol refinements, requires ESC firmware v1.03543 or greater # Conflicts: # src/main/sensors/esc_sensor.c

…or greater - validate frame type

* esc_sensor_openyge: OpenYGE - final protocol refinements, requires ESC firmware v1.03543 or greater - validate frame type

…hen silent fails

* esc_sensor_openyge: OpenYGE - enable single-wire for future bidirectional use

…x mode

* esc_sensor_openyge: OpenYGE - enable single-wire for future bidirectional use, enable txrx mode

- assume min frame length of 6 until known - apply 0-> -40°C, 255->215°C temperature mapping (frame version >= 2) - minor code cleanups

…s reported by ESC

* esc_sensor_data_plus: (21 commits) RFF-78 - escSensorData - added .throttle to. capture input setpoint as reported by ESC Fix Kontronik telemetry protocol (rotorflight#98) Update README.md Add Horizon mode inverted self-leveling Add CI or PR to the firmware extra version string OpenYGE - fix: address possible buffer underflow condition, add 2nd paranoid frame length validation outside ISR/callback (rotorflight#96) Fix RPM filter error check with Direct Drive motors (rotorflight#94) Fix TTA headroom calculation in Gov Passthrough (rotorflight#92) Add GOV_MODE FrSky telemetry sensor (rotorflight#89) Add github workflows for CI builds OpenYGE - telemetry - BEC voltage and current fix OpenYGE - fix to support v3 frame header extension (rotorflight#87) OpenYGE - support v3 frame header extension - documentation chore: fixed scale lights terminology (rotorflight#85) Add Releases.md Update github workflows Reduce default smoothing level Simplify RC frame rate calculation Change default PID D-gains Change default motor protocol to PWM ... # Conflicts: # src/main/sensors/esc_sensor.c

…not enough room on GPS sensors

…precated unc

* master: Fix for CMS feature disabled issue on Spektrum telemetry (rotorflight#106) Update CMS flight profile menus (rotorflight#104) Auto detection fix for Kontronik ESCs (rotorflight#100)

rotorflight · 2024-04-30T14:09:31Z

src/main/sensors/esc_sensor.c

@@ -1106,21 +1008,30 @@ static void kontronikSensorProcess(timeUs_t currentTimeUs)
            uint32_t crc = kontronikDecodeCRC(kontronikPacketLength - KON_CRC_LENGTH);
            if (calculateCRC32(buffer, kontronikPacketLength - kontronikCrcExclude - KON_CRC_LENGTH) == crc) {
                uint32_t rpm = buffer[7] << 24 | buffer[6] << 16 | buffer[5] << 8 | buffer[4];
+                int16_t  throttle = (int8_t)buffer[24];


Can this be negative? Why the (int8_t)?
I guess so, as it has +100 later. Must be -100..100 then.

Possibly - docs say ...
* 24: Throttle % (-100..100)
ie apply offset for 0-200, then scale *5 to be equivalent to .pwm 0..100 (*10)
escSensorData[0].throttle = (throttle + 100) * 5;
escSensorData[0].pwm = pwm * 10;

rotorflight · 2024-04-30T14:12:05Z

src/main/sensors/esc_sensor.c

+                uint16_t currBEC = buffer[19] << 8 | buffer[18];
+                uint16_t voltBEC = buffer[21] << 8 | buffer[20];
+                uint16_t status1 = buffer[29] << 8 | buffer[28];
+                uint16_t status2 = buffer[31] << 8 | buffer[30];


Why not collect the status directly into a uint32_t?

Evolutionary leftovers - collecting as 32 done.

rotorflight · 2024-04-30T14:12:37Z

src/main/sensors/esc_sensor.c

+        serialWriteBuf(escSensorPort, reqbuffer, reqLength);
+}
+
+static void rrfsmInvalidateReq()


C-convention. Should be (void)

Agreed - done.

rotorflight · 2024-04-30T14:15:54Z

src/main/sensors/esc_sensor.c

+    return paramPayloadLength != 0 ? PARAM_HEADER_SIZE + paramPayloadLength : 0;
+}
+
+uint8_t *escGetParamBuffer()


rotorflight · 2024-04-30T14:16:02Z

src/main/sensors/esc_sensor.c

+    return paramBuffer;
+}
+
+uint8_t *escGetParamUpdBuffer()


rotorflight · 2024-04-30T14:16:09Z

src/main/sensors/esc_sensor.c

+    return paramUpdBuffer;
+}
+
+bool escCommitParameters()


rotorflight · 2024-04-30T14:18:29Z

src/main/sensors/esc_sensor.c

+                const uint32_t q22 = 1 << 22;
+                uint32_t *pw = iq22Payload;
+                uint32_t *pp = (uint32_t*)(paramUpdPayload + offset);
+                *pw++ = (((double)*pp++) / 100 * q22);


Why is double used here? First, STM32F7/F4 does not support double, so this would be enumlated.
Second. I am not sure why use double/float at all, as this is all integers?

IQ22 float conversion required better precision than w/ integer only math.
test - expected is 150
const uint32_t q22 = 1 << 22;
uint32_t iqv = 0x00001893; // <= from ESC
uint32_t d1= round(((double)iqv) * 100000 / q22);
uint32_t d2 = ((uint32_t)iqv) * 100000 / q22;
printf("\niq22> %d, %d", d1, d2);
output
iq22> 150, 149

You could do it correctly with integers, but it would look ugly.
Please use float instead. Double is trouble.

Verifying use of float w/ unit tests prior to change...

float passes tests - float replaces double

rotorflight · 2024-04-30T14:18:56Z

src/main/sensors/esc_sensor.c

+                const uint32_t q22 = 1 << 22;
+                uint32_t *pr = (uint32_t*)(buffer + TRIB_HEADER_LENGTH);
+                uint32_t *pp = (uint32_t*)(paramPayload + offset);
+                *pp++ = round(((double)*pr++) / q22 * 100);


Same question about the use of double.

As above.
These are the gov P and I parameters - one option would be not to present them but some like to use the ESC's internal governor and expect to be able to tweak these. Odd choice by Scorpion.

float replaces double

rotorflight

Please use float instead of double

rotorflight · 2024-05-10T07:12:47Z

src/main/sensors/esc_sensor.c

+                uint32_t *pr = (uint32_t*)(buffer + TRIB_HEADER_LENGTH);
+                uint32_t *pp = (uint32_t*)(paramPayload + offset);
+                *pp++ = round(((float)*pr++) / q22 * 100);
+                *pp = round(((float)*pr) / q22 * 100000);


round() takes a double argument, causing a promotion float -> double.
You need to use roundf()

Ah yes, the joys of implicit coercion round(...) replaced with roundf(...), tests and device tests ok

rotorflight

Nearly there. You missed the round() function. Use roundf() instead.

rotorflight · 2024-05-10T07:16:33Z

Most floating point functions in C are taking double. Need to use the ...f() variant for floats.
Also, all constants need to be suffixed with f, like 1.234f. Otherwise they are double.
It's easy to miss these... BF code use to be full of unnecessary conversions and slow code.

…undf(...) - unit and device tests ok for range of values used

bob01 · 2024-05-10T12:16:25Z

Good catch - thanks

* Added OpenYGE transport - TODO frame deserialization * Implemented support for progressive decreasing frame-period during ramp time * Implemented OpenYGE frame deserializer * ESC frame byte alignment workaround * Remove byte alignment workaround, v1.03539 frames good * Added OpenYGE status1 documentation (motor status) - TODO: warning flags * Added status / warning flag documentation * Added status / warning flag documentation * More documentation, fix BB ESC_SENSOR and ESC_SENSOR_DATA values - DEBUG_DATA_EXTRA is BEC voltage * OpenYGE - capture BEC temperature as escSensorData.temperature2 * Capture DEBUG_FRAME_BUFFER (use readBytes vs bufferPos) * escSensorData - added temperature3 (for ESC's with additional temperature sensors), bec_voltage and bec_current * escSensorData - esc sensor parity for gps reuse sources * escSensorData - replaced .temperature3 with .extra1 and .extra2, for capture of non-standard data (for ESC's with additional temperature sensors, status codes, error flags etc) * escSensorData - added ESC sensor protocol CALIBRATE - use to dial in ETX settings (ratio etc) with recognizable values for ESC supplied reuse sources * escSensorData - expose new common ESC telemetry fields as reuse sources * OpenYGE - frame updates for frame version 1 * OpenYGE - final protocol refinements, requires ESC firmware v1.03543 or greater * OpenYGE - final protocol refinements, requires ESC firmware v1.03543 or greater - validate frame type * ESC setup - MSP UI POC - max MSP buffer seems to be btwn 80 and 128 then silent fails * OpenYGE - enable single-wire for future bidirectional use * OpenYGE - enable single-wire for future bidirectional use * OpenYGE - enable single-wire for future bidirectional use, enable txrx mode * OpenYGE - reduced ramp interval based on 3543 LA captures - assume min frame length of 6 until known - apply 0-> -40°C, 255->215°C temperature mapping (frame version >= 2) - minor code cleanups * OpenYGE - disable single-wire telemetry for initial release (ie use RX pin) * ESC Setup - msp - dont send any parameter data until all parameters cached YGE - derive parameter count from parameters received * YGE ESC - msp - save * ESC Setup - minor cosmetic * Tribunus - poc - added request/response one-wire protocol variant * Tribunus - poc - add request/response one-wire protocol variant - wip * Tribunus - poc - add request/response one-wire protocol variant - wip 1 * Tribunus - poc - add request/response one-wire protocol variant - wip 2 * RFF-78 - escdata - escSensorData_t extended to capture esc provided BEC voltage/current, ESC status / fault codes * RFF-78 - reuse - additional CRSF reuse sources to expose extended esc sensor data * ESC MSP - more generic impl pulled back from more advanced branch * Tribunus - poc - add request/response one-wire protocol variant - wip 3 * Tribunus - poc - add request/response one-wire protocol variant - wip 4 * ESC Setup - Scorpion ported and validated on RRFSM (shared request/response FSM), OpenYGE ported to RRFSM * ESC Setup - OpenYGE validated on RRFSM * ESC Setup - Scorpion setup params - wip * ESC Setup - Scorpion setup params - wip2 * SCORP ESC - extended payload to include stick min/max Us * ESC Setup - Scorpion setup params - UNC test * ESC Setup - RRFSM validation * OpenYGE - reverted temp offset change (original implementation was correct) * OpenYGE - save param - wip * OpenYGE - save param - RFP-02 impl * ESC Setup - hack / poc to validate scorpion read/write while in UNC mode * ESC Setup - scorpion read/write while in UNC mode - cleanup of secondary state machine * ESC Setup - scorpion read/write while in UNC mode - cleanup of secondary state machine - verified * ESC Setup - scorpion - support IQ22 settings gov P and I * ESC Setup - scorpion - support IQ22 settings gov P and I * ESC Setup - scorpion - msp params extended to include ESC commands, added 'reset ESC' option * ESC Setup - minor code cleanup * OpenYGE - support v3 frame header extension * OpenYGE - support v3 frame header extension - documentation (cherry picked from commit 00fc315) * OpenYGE - support v3 frame header extension - documentation (cherry picked from commit 00fc315) (cherry picked from commit a1d7b16) * ESC Setup - RRFSM / serial port init cleanup * ESC Setup - support PARAM_HEADER_RDONLY (0x40) e.g. no bidirectional connection to ESC * Tribunus - const cleanup * OpenYGE - ESC_SENSOR voltage and current fixes * OpenYGE - const cleanup * OpenYGE - draft bidirectional impl w/ fallback to auto mode, structs to pack and parse packets * OpenYGE - draft bidirectional impl. cosmetic and doc cleanup * ESC Setup - parameter exchange cleanup * OpenYGE - telemetry - BEC voltage and current fix * OpenYGE - telemetry - BEC voltage and current fix * OpenYGE - master - assume role after last auto telemetry frame w/ delay for chained responses * OpenYGE - master - assume role ~24ms quiet time after seeing v3 auto telemetry frame, support TELE_AUTO, TELE_REQ/RESP, WRITE_PARAM_REQ/RESP * OpenYGE - setup - params read only if frame_version < v3 * ESC Setup - params - invalidate param payload and param on param commit, wait until param written and subsequently read before making param payload available again. ESC capability / command cleanup * OpenYGE - fix: address possible frame underflow condition, add 2nd paranoid frame length validation outside ISR/callback, declare globals shared w/ callback volatile * ESC status - send reserved bit to force recognition of status == 0 * RFF-78 - escSensorData - added .throttle to. capture input setpoint as reported by ESC * REUSE - added BEC, BUS, MPU voltage sources to GPS sensor options * CRSF - reuse - expose additional ESC sources on ATT 16-bit sensors - not enough room on GPS sensors * CRSF - reuse - minor code consistency - missing comma * ESC Setup - scorpion - unc timeout fixes, minor cosmetics * ESC Setup - scorpion - remove enc telemetry data * ESC Setup - pre-pr code cosmetics, more defined constants, removed deprecated unc * hd - void signature fixes, kon status as 32 bit * hd - IQ22 - use float vs double - tests ok for range of values used * hd - IQ22 - improper use of round(...) w/ float type, replace with roundf(...) - unit and device tests ok for range of values used --------- Co-authored-by: Rotorflight <[email protected]>

* master: Add ESC Forward programming for YGE and Scorpion ESCs (rotorflight#108) Improve yaw precomp filtering Fix Governor Passthrough IDLE state throttle tracking Use servo pulse limits for output throttle Change gov_max_throttle range to 0..100% Fix CMS label alignment on small screen (rotorflight#109) Add CMS Rescue, PID controller and bandwidth menus (rotorflight#107) Fix hover drift in PID mode 3 Fix for CMS feature disabled issue on Spektrum telemetry (rotorflight#106) Update CMS flight profile menus (rotorflight#104) Auto detection fix for Kontronik ESCs (rotorflight#100) # Conflicts: # src/main/sensors/esc_sensor.c

bob01 · 2024-05-14T15:53:26Z

Yay - thanks.

* Added OpenYGE transport - TODO frame deserialization * Implemented support for progressive decreasing frame-period during ramp time * Implemented OpenYGE frame deserializer * ESC frame byte alignment workaround * Remove byte alignment workaround, v1.03539 frames good * Added OpenYGE status1 documentation (motor status) - TODO: warning flags * Added status / warning flag documentation * Added status / warning flag documentation * More documentation, fix BB ESC_SENSOR and ESC_SENSOR_DATA values - DEBUG_DATA_EXTRA is BEC voltage * OpenYGE - capture BEC temperature as escSensorData.temperature2 * Capture DEBUG_FRAME_BUFFER (use readBytes vs bufferPos) * escSensorData - added temperature3 (for ESC's with additional temperature sensors), bec_voltage and bec_current * escSensorData - esc sensor parity for gps reuse sources * escSensorData - replaced .temperature3 with .extra1 and .extra2, for capture of non-standard data (for ESC's with additional temperature sensors, status codes, error flags etc) * escSensorData - added ESC sensor protocol CALIBRATE - use to dial in ETX settings (ratio etc) with recognizable values for ESC supplied reuse sources * escSensorData - expose new common ESC telemetry fields as reuse sources * OpenYGE - frame updates for frame version 1 * OpenYGE - final protocol refinements, requires ESC firmware v1.03543 or greater * OpenYGE - final protocol refinements, requires ESC firmware v1.03543 or greater - validate frame type * ESC setup - MSP UI POC - max MSP buffer seems to be btwn 80 and 128 then silent fails * OpenYGE - enable single-wire for future bidirectional use * OpenYGE - enable single-wire for future bidirectional use * OpenYGE - enable single-wire for future bidirectional use, enable txrx mode * OpenYGE - reduced ramp interval based on 3543 LA captures - assume min frame length of 6 until known - apply 0-> -40°C, 255->215°C temperature mapping (frame version >= 2) - minor code cleanups * OpenYGE - disable single-wire telemetry for initial release (ie use RX pin) * ESC Setup - msp - dont send any parameter data until all parameters cached YGE - derive parameter count from parameters received * YGE ESC - msp - save * ESC Setup - minor cosmetic * Tribunus - poc - added request/response one-wire protocol variant * Tribunus - poc - add request/response one-wire protocol variant - wip * Tribunus - poc - add request/response one-wire protocol variant - wip 1 * Tribunus - poc - add request/response one-wire protocol variant - wip 2 * RFF-78 - escdata - escSensorData_t extended to capture esc provided BEC voltage/current, ESC status / fault codes * RFF-78 - reuse - additional CRSF reuse sources to expose extended esc sensor data * ESC MSP - more generic impl pulled back from more advanced branch * Tribunus - poc - add request/response one-wire protocol variant - wip 3 * Tribunus - poc - add request/response one-wire protocol variant - wip 4 * ESC Setup - Scorpion ported and validated on RRFSM (shared request/response FSM), OpenYGE ported to RRFSM * ESC Setup - OpenYGE validated on RRFSM * ESC Setup - Scorpion setup params - wip * ESC Setup - Scorpion setup params - wip2 * SCORP ESC - extended payload to include stick min/max Us * ESC Setup - Scorpion setup params - UNC test * ESC Setup - RRFSM validation * OpenYGE - reverted temp offset change (original implementation was correct) * OpenYGE - save param - wip * OpenYGE - save param - RFP-02 impl * ESC Setup - hack / poc to validate scorpion read/write while in UNC mode * ESC Setup - scorpion read/write while in UNC mode - cleanup of secondary state machine * ESC Setup - scorpion read/write while in UNC mode - cleanup of secondary state machine - verified * ESC Setup - scorpion - support IQ22 settings gov P and I * ESC Setup - scorpion - support IQ22 settings gov P and I * ESC Setup - scorpion - msp params extended to include ESC commands, added 'reset ESC' option * ESC Setup - minor code cleanup * OpenYGE - support v3 frame header extension * OpenYGE - support v3 frame header extension - documentation (cherry picked from commit 00fc315) * OpenYGE - support v3 frame header extension - documentation (cherry picked from commit 00fc315) (cherry picked from commit a1d7b16) * ESC Setup - RRFSM / serial port init cleanup * ESC Setup - support PARAM_HEADER_RDONLY (0x40) e.g. no bidirectional connection to ESC * Tribunus - const cleanup * OpenYGE - ESC_SENSOR voltage and current fixes * OpenYGE - const cleanup * OpenYGE - draft bidirectional impl w/ fallback to auto mode, structs to pack and parse packets * OpenYGE - draft bidirectional impl. cosmetic and doc cleanup * ESC Setup - parameter exchange cleanup * OpenYGE - telemetry - BEC voltage and current fix * OpenYGE - telemetry - BEC voltage and current fix * OpenYGE - master - assume role after last auto telemetry frame w/ delay for chained responses * OpenYGE - master - assume role ~24ms quiet time after seeing v3 auto telemetry frame, support TELE_AUTO, TELE_REQ/RESP, WRITE_PARAM_REQ/RESP * OpenYGE - setup - params read only if frame_version < v3 * ESC Setup - params - invalidate param payload and param on param commit, wait until param written and subsequently read before making param payload available again. ESC capability / command cleanup * OpenYGE - fix: address possible frame underflow condition, add 2nd paranoid frame length validation outside ISR/callback, declare globals shared w/ callback volatile * ESC status - send reserved bit to force recognition of status == 0 * RFF-78 - escSensorData - added .throttle to. capture input setpoint as reported by ESC * REUSE - added BEC, BUS, MPU voltage sources to GPS sensor options * CRSF - reuse - expose additional ESC sources on ATT 16-bit sensors - not enough room on GPS sensors * CRSF - reuse - minor code consistency - missing comma * ESC Setup - scorpion - unc timeout fixes, minor cosmetics * ESC Setup - scorpion - remove enc telemetry data * ESC Setup - pre-pr code cosmetics, more defined constants, removed deprecated unc * hd - void signature fixes, kon status as 32 bit * hd - IQ22 - use float vs double - tests ok for range of values used * hd - IQ22 - improper use of round(...) w/ float type, replace with roundf(...) - unit and device tests ok for range of values used --------- Co-authored-by: Rotorflight <[email protected]>

bob01 added 30 commits February 8, 2024 21:43

Added OpenYGE transport - TODO frame deserialization

0ab083b

Implemented support for progressive decreasing frame-period during ra…

7bc27d7

…mp time

Implemented OpenYGE frame deserializer

f23afba

ESC frame byte alignment workaround

de22429

Remove byte alignment workaround, v1.03539 frames good

7ab2cf8

Added OpenYGE status1 documentation (motor status) - TODO: warning flags

7ee059f

Added status / warning flag documentation

b9f0a59

Added status / warning flag documentation

2ca6ca4

More documentation, fix BB ESC_SENSOR and ESC_SENSOR_DATA values - DE…

0b01a95

…BUG_DATA_EXTRA is BEC voltage

OpenYGE - capture BEC temperature as escSensorData.temperature2

f78b992

Capture DEBUG_FRAME_BUFFER (use readBytes vs bufferPos)

364192c

Merge branch 'devel' into esc_sensor_openyge

0e14283

escSensorData - added temperature3 (for ESC's with additional tempera…

74f5b6d

…ture sensors), bec_voltage and bec_current

escSensorData - esc sensor parity for gps reuse sources

e6e3de7

escSensorData - replaced .temperature3 with .extra1 and .extra2, for …

3dcf5f1

…capture of non-standard data (for ESC's with additional temperature sensors, status codes, error flags etc)

escSensorData - added ESC sensor protocol CALIBRATE - use to dial in …

7bdaf01

…ETX settings (ratio etc) with recognizable values for ESC supplied reuse sources

escSensorData - expose new common ESC telemetry fields as reuse sources

653a69f

OpenYGE - frame updates for frame version 1

85307d6

Merge branch 'esc_sensor_openyge' into esc_sensor_data_plus

c8070a4

* esc_sensor_openyge: OpenYGE - frame updates for frame version 1 # Conflicts: # src/main/sensors/esc_sensor.c

OpenYGE - final protocol refinements, requires ESC firmware v1.03543 …

2d84a3a

…or greater

Merge branch 'esc_sensor_openyge' into esc_sensor_data_plus

075cfcd

* esc_sensor_openyge: OpenYGE - final protocol refinements, requires ESC firmware v1.03543 or greater # Conflicts: # src/main/sensors/esc_sensor.c

OpenYGE - final protocol refinements, requires ESC firmware v1.03543 …

0a3c50e

…or greater - validate frame type

Merge branch 'esc_sensor_openyge' into esc_sensor_data_plus

abbd23c

* esc_sensor_openyge: OpenYGE - final protocol refinements, requires ESC firmware v1.03543 or greater - validate frame type

ESC setup - MSP UI POC - max MSP buffer seems to be btwn 80 and 128 t…

e28ed43

…hen silent fails

OpenYGE - enable single-wire for future bidirectional use

985af10

OpenYGE - enable single-wire for future bidirectional use

1da134e

Merge branch 'esc_sensor_openyge' into esc_sensor_data_plus

1e1e4b4

* esc_sensor_openyge: OpenYGE - enable single-wire for future bidirectional use

OpenYGE - enable single-wire for future bidirectional use, enable txr…

5e5f6d6

…x mode

Merge branch 'esc_sensor_openyge' into esc_sensor_data_plus

1a889ca

* esc_sensor_openyge: OpenYGE - enable single-wire for future bidirectional use, enable txrx mode

OpenYGE - reduced ramp interval based on 3543 LA captures

2601bb2

- assume min frame length of 6 until known - apply 0-> -40°C, 255->215°C temperature mapping (frame version >= 2) - minor code cleanups

bob01 added 9 commits April 15, 2024 10:04

RFF-78 - escSensorData - added .throttle to. capture input setpoint a…

9140133

…s reported by ESC

REUSE - added BEC, BUS, MPU voltage sources to GPS sensor options

a0c6452

CRSF - reuse - expose additional ESC sources on ATT 16-bit sensors - …

d7d437c

…not enough room on GPS sensors

CRSF - reuse - minor code consistency - missing comma

a3086bf

ESC Setup - scorpion - unc timeout fixes, minor cosmetics

8444656

ESC Setup - scorpion - remove enc telemetry data

2fda453

ESC Setup - pre-pr code cosmetics, more defined constants, removed de…

fdd8278

…precated unc

Merge branch 'master' into esc_sensor_hd_pr

c590e54

* master: Fix for CMS feature disabled issue on Spektrum telemetry (rotorflight#106) Update CMS flight profile menus (rotorflight#104) Auto detection fix for Kontronik ESCs (rotorflight#100)

rotorflight reviewed Apr 30, 2024

View reviewed changes

rotorflight requested changes Apr 30, 2024

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hd - void signature fixes, kon status as 32 bit

bdc7a9b

rotorflight requested changes May 8, 2024

View reviewed changes

hd - IQ22 - use float vs double - tests ok for range of values used

3f0eb6a

rotorflight reviewed May 10, 2024

View reviewed changes

rotorflight requested changes May 10, 2024

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hd - IQ22 - improper use of round(...) w/ float type, replace with ro…

0f3d27b

…undf(...) - unit and device tests ok for range of values used

Merge branch 'master' into esc_sensor_hd_pr

11767f1

rotorflight approved these changes May 13, 2024

View reviewed changes

rotorflight merged commit be50b72 into rotorflight:master May 13, 2024
1 check passed

bob01 mentioned this pull request May 14, 2024

ESC Setup / programming (bidirectional telemetry / forward programming) - implemented for HW5 ESCs #114

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ESC Setup / programming (bidirectional telemetry / forward programming) - implemented for YGE and Scorpion ESCs #108

ESC Setup / programming (bidirectional telemetry / forward programming) - implemented for YGE and Scorpion ESCs #108

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ESC Setup / programming (bidirectional telemetry / forward programming) - implemented for YGE and Scorpion ESCs #108

ESC Setup / programming (bidirectional telemetry / forward programming) - implemented for YGE and Scorpion ESCs #108

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bob01 commented Apr 28, 2024 • edited Loading

Configuration

Code

YGE support

Scorpion Tribunus

Testing

UI for YGE

UI for Scorpion - connect to Scorpion ASAP on startup, reset when done (power cycle or use menu option)

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rotorflight commented May 10, 2024

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