DShotTelemetry Class Reference

#include <telemetry.h>

Collaboration diagram for DShotTelemetry:

Classes
struct	EscData
struct	OutputBuffer

Public Member Functions
	~DShotTelemetry ()
int	init (const char *uart_device)
void	deinit ()
void	setNumMotors (int num_motors)
int	numMotors () const
int	update ()
	Read telemetry from the UART (non-blocking) and handle timeouts. More...
int	redirectOutput (OutputBuffer &buffer)
	Redirect everything that is read into a different buffer. More...
bool	redirectActive () const
int	getRequestMotorIndex ()
	Get the motor index for which telemetry should be requested. More...
const EscData &	latestESCData () const
bool	expectingData () const
	Check whether we are currently expecting to read new data from an ESC. More...
void	printStatus () const

Static Public Member Functions
static void	decodeAndPrintEscInfoPacket (const OutputBuffer &buffer)

Static Public Attributes
static constexpr int	esc_info_size_blheli32 = 64
static constexpr int	esc_info_size_kiss_v1 = 15
static constexpr int	esc_info_size_kiss_v2 = 21
static constexpr int	max_esc_info_size = esc_info_size_blheli32

Private Member Functions
int	setBaudrate (unsigned baud)
	set the Baudrate More...
void	requestNextMotor ()
bool	decodeByte (uint8_t byte, bool &successful_decoding)
	Decode a single byte from an ESC feedback frame. More...

Static Private Member Functions
static uint8_t	updateCrc8 (uint8_t crc, uint8_t crc_seed)
static uint8_t	crc8 (const uint8_t *buf, uint8_t len)

Private Attributes
int	_uart_fd {-1}
int	_num_motors {0}
uint8_t	_frame_buffer [ESC_FRAME_SIZE]
int	_frame_position {0}
EscData	_latest_data
int	_current_motor_index_request {-1}
hrt_abstime	_current_request_start {0}
OutputBuffer *	_redirect_output {nullptr}
	if set, all read bytes are stored here instead of the internal buffer More...
int	_num_timeouts {0}
int	_num_successful_responses {0}

Static Private Attributes
static constexpr int	ESC_FRAME_SIZE = 10

Detailed Description

Definition at line 38 of file telemetry.h.

Constructor & Destructor Documentation

~DShotTelemetry()

DShotTelemetry::~DShotTelemetry

(

)

Definition at line 47 of file telemetry.cpp.

Member Function Documentation

crc8()

uint8_t DShotTelemetry::crc8 ( const uint8_t *  buf, uint8_t  len  )

staticprivate

Definition at line 212 of file telemetry.cpp.

Referenced by decodeAndPrintEscInfoPacket().

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decodeAndPrintEscInfoPacket()

void DShotTelemetry::decodeAndPrintEscInfoPacket ( const OutputBuffer &  buffer )

static

Definition at line 242 of file telemetry.cpp.

References DShotTelemetry::OutputBuffer::buf_pos, DShotTelemetry::OutputBuffer::buffer, crc8(), and data.

Referenced by expectingData(), and DShotOutput::retrieveAndPrintESCInfoThreadSafe().

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decodeByte()

bool DShotTelemetry::decodeByte ( uint8_t  byte, bool &  successful_decoding  )

private

Decode a single byte from an ESC feedback frame.

Parameters

byte
successful_decoding	set to true if checksum matches

Returns

true if received the expected amount of bytes and the next motor can be requested

Definition at line 164 of file telemetry.cpp.

References crc8(), and hrt_absolute_time().

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deinit()

void DShotTelemetry::deinit

(

)

Definition at line 68 of file telemetry.cpp.

expectingData()

bool DShotTelemetry::expectingData ( ) const

inline

Check whether we are currently expecting to read new data from an ESC.

Definition at line 99 of file telemetry.h.

References _current_request_start, decodeAndPrintEscInfoPacket(), and printStatus().

Referenced by DShotOutput::updateOutputs().

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getRequestMotorIndex()

int DShotTelemetry::getRequestMotorIndex

(

)

Get the motor index for which telemetry should be requested.

Returns

-1 if no request should be made, motor index otherwise

Definition at line 231 of file telemetry.cpp.

References hrt_absolute_time().

Referenced by redirectActive(), and DShotOutput::updateOutputs().

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init()

int DShotTelemetry::init

(

const char *

uart_device

)

Definition at line 52 of file telemetry.cpp.

References DSHOT_TELEMETRY_UART_BAUDRATE, and setBaudrate.

Referenced by DShotOutput::initTelemetry().

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latestESCData()

const EscData& DShotTelemetry::latestESCData ( ) const

inline

Definition at line 94 of file telemetry.h.

References _latest_data.

Referenced by DShotOutput::Run().

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numMotors()

int DShotTelemetry::numMotors ( ) const

inline

Definition at line 68 of file telemetry.h.

References _num_motors, redirectOutput(), and update().

Referenced by DShotOutput::handleNewTelemetryData().

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printStatus()

void DShotTelemetry::printStatus

(

)

const

Definition at line 194 of file telemetry.cpp.

Referenced by expectingData(), and DShotOutput::print_status().

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redirectActive()

bool DShotTelemetry::redirectActive ( ) const

inline

Definition at line 86 of file telemetry.h.

References _redirect_output, and getRequestMotorIndex().

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redirectOutput()

int DShotTelemetry::redirectOutput

(

OutputBuffer &

buffer

)

Redirect everything that is read into a different buffer.

Future calls to will write to that instead of an internal buffer, until returns a value different from -1. No decoding is done. The caller must ensure the buffer exists until that point.

Parameters

buffer

Returns

0 on success <0 on error

Definition at line 76 of file telemetry.cpp.

References DShotTelemetry::OutputBuffer::buf_pos, hrt_absolute_time(), and DShotTelemetry::OutputBuffer::motor_index.

Referenced by numMotors(), and DShotOutput::requestESCInfo().

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requestNextMotor()

void DShotTelemetry::requestNextMotor ( )

private

Definition at line 224 of file telemetry.cpp.

setBaudrate()

int DShotTelemetry::setBaudrate ( unsigned  baud )

private

set the Baudrate

Parameters

baud

Returns

0 on success, <0 on error

Definition at line 399 of file telemetry.cpp.

setNumMotors()

void DShotTelemetry::setNumMotors ( int  num_motors )

inline

Definition at line 67 of file telemetry.h.

References _num_motors.

Referenced by DShotOutput::updateTelemetryNumMotors().

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update()

int DShotTelemetry::update

(

)

Read telemetry from the UART (non-blocking) and handle timeouts.

Returns

-1 if no update, -2 timeout, >= 0 for the motor index. Use () to get the data.

Definition at line 90 of file telemetry.cpp.

References hrt_absolute_time(), hrt_abstime, and read().

Referenced by numMotors(), and DShotOutput::Run().

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updateCrc8()

uint8_t DShotTelemetry::updateCrc8 ( uint8_t  crc, uint8_t  crc_seed  )

inlinestaticprivate

Definition at line 200 of file telemetry.cpp.

Member Data Documentation

_current_motor_index_request

int DShotTelemetry::_current_motor_index_request {-1}

private

Definition at line 135 of file telemetry.h.

_current_request_start

hrt_abstime DShotTelemetry::_current_request_start {0}

private

Definition at line 136 of file telemetry.h.

Referenced by expectingData().

_frame_buffer

uint8_t DShotTelemetry::_frame_buffer[ESC_FRAME_SIZE]

private

Definition at line 130 of file telemetry.h.

_frame_position

int DShotTelemetry::_frame_position {0}

private

Definition at line 131 of file telemetry.h.

_latest_data

EscData DShotTelemetry::_latest_data

private

Definition at line 133 of file telemetry.h.

Referenced by latestESCData().

_num_motors

int DShotTelemetry::_num_motors {0}

private

Definition at line 129 of file telemetry.h.

Referenced by numMotors(), and setNumMotors().

_num_successful_responses

int DShotTelemetry::_num_successful_responses {0}

private

Definition at line 142 of file telemetry.h.

_num_timeouts

int DShotTelemetry::_num_timeouts {0}

private

Definition at line 141 of file telemetry.h.

_redirect_output

OutputBuffer* DShotTelemetry::_redirect_output {nullptr}

private

if set, all read bytes are stored here instead of the internal buffer

Definition at line 138 of file telemetry.h.

Referenced by redirectActive().

_uart_fd

int DShotTelemetry::_uart_fd {-1}

private

Definition at line 128 of file telemetry.h.

ESC_FRAME_SIZE

constexpr int DShotTelemetry::ESC_FRAME_SIZE = 10

staticprivate

Definition at line 106 of file telemetry.h.

esc_info_size_blheli32

constexpr int DShotTelemetry::esc_info_size_blheli32 = 64

static

Definition at line 50 of file telemetry.h.

esc_info_size_kiss_v1

constexpr int DShotTelemetry::esc_info_size_kiss_v1 = 15

static

Definition at line 51 of file telemetry.h.

esc_info_size_kiss_v2

constexpr int DShotTelemetry::esc_info_size_kiss_v2 = 21

static

Definition at line 52 of file telemetry.h.

max_esc_info_size

constexpr int DShotTelemetry::max_esc_info_size = esc_info_size_blheli32

static

Definition at line 53 of file telemetry.h.

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The documentation for this class was generated from the following files:

• src/drivers/dshot/telemetry.h
• src/drivers/dshot/telemetry.cpp