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Added new DSHOT debug modes #4144

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Added new DSHOT debug modes #4144

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3305d3a
Added new DSHOT debug modes
damosvil Jan 21, 2023
ebbafd6
Move EDT checkbox to separate row
stylesuxx Aug 28, 2024
21ec939
Bumped API versions, import semver
stylesuxx Aug 28, 2024
becdc62
Conditionally ready motor config
stylesuxx Aug 28, 2024
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6 changes: 5 additions & 1 deletion locales/en/messages.json
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Original file line number Diff line number Diff line change
Expand Up @@ -6786,8 +6786,12 @@
"message": "Bidirectional DShot (requires supported ESC firmware)",
"description": "Feature for the ESC/Motor"
},
"configurationDshotEdt": {
"message": "Built-in sensors",
"description": "ESC/Motor feature"
},
"configurationDshotBidirHelp": {
"message": "Sends ESC data to the FC via DShot telemetry. Required by RPM Filtering and dynamic idle. <br> <br>Note: Requires a compatible ESC with appropriate firmware, eg JESC, Jazzmac, BLHeli-32.",
"message": "Sends ESC data to the FC via DShot telemetry. Required by RPM Filtering and dynamic idle. <br> <br>Note: Requires a compatible ESC with appropriate firmware, eg Bluejay, AM32, JESC, Jazzmac, BLHeli-32.",
"description": "Description of the Bidirectional DShot feature of the ESC/Motor"
},
"configurationGyroSyncDenom": {
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1 change: 1 addition & 0 deletions src/js/VirtualFC.js
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Original file line number Diff line number Diff line change
Expand Up @@ -52,6 +52,7 @@ const VirtualFC = {
motor_count: 4,
motor_poles: 14,
use_dshot_telemetry: true,
use_dshot_edt: true,
use_esc_sensor: false,
};

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1 change: 1 addition & 0 deletions src/js/data_storage.js
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Original file line number Diff line number Diff line change
@@ -1,4 +1,5 @@
export const API_VERSION_1_39 = '1.39.0';
export const API_VERSION_1_42 = '1.42.0';
export const API_VERSION_1_44 = '1.44.0';
export const API_VERSION_1_45 = '1.45.0';
export const API_VERSION_1_46 = '1.46.0';
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7 changes: 7 additions & 0 deletions src/js/debug.js
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Expand Up @@ -98,6 +98,13 @@ const DEBUG = {
{text: "S_TERM"},
{text: "SPA"},
{text: "TASK"},
{text: "DSHOT_STATUS_N_TEMPERATURE"},
{text: "DSHOT_STATUS_N_VOLTAGE"},
{text: "DSHOT_STATUS_N_CURRENT"},
{text: "DSHOT_STATUS_N_DEBUG1"},
{text: "DSHOT_STATUS_N_DEBUG2"},
{text: "DSHOT_STATUS_N_STRESS_LVL"},
{text: "DSHOT_STATUS_N_ERPM_FRACTION_18"},
],

fieldNames: {
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1 change: 1 addition & 0 deletions src/js/fc.js
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Expand Up @@ -397,6 +397,7 @@ const FC = {
motor_count: 0,
motor_poles: 0,
use_dshot_telemetry: false,
use_dshot_edt: false,
use_esc_sensor: false,
};

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28 changes: 20 additions & 8 deletions src/js/msp/MSPHelper.js
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Expand Up @@ -8,7 +8,7 @@ import semver from 'semver';
import vtxDeviceStatusFactory from "../utils/VtxDeviceStatus/VtxDeviceStatusFactory";
import MSP from "../msp";
import MSPCodes from "./MSPCodes";
import { API_VERSION_1_45, API_VERSION_1_46, API_VERSION_1_47 } from '../data_storage';
import { API_VERSION_1_42, API_VERSION_1_45, API_VERSION_1_46, API_VERSION_1_47 } from '../data_storage';
import EscProtocols from "../utils/EscProtocols";
import huffmanDecodeBuf from "../huffman";
import { defaultHuffmanTree, defaultHuffmanLenIndex } from "../default_huffman_tree";
Expand Down Expand Up @@ -493,10 +493,17 @@ MspHelper.prototype.process_data = function(dataHandler) {
FC.MOTOR_CONFIG.minthrottle = data.readU16(); // 0-2000
FC.MOTOR_CONFIG.maxthrottle = data.readU16(); // 0-2000
FC.MOTOR_CONFIG.mincommand = data.readU16(); // 0-2000
FC.MOTOR_CONFIG.motor_count = data.readU8();
FC.MOTOR_CONFIG.motor_poles = data.readU8();
FC.MOTOR_CONFIG.use_dshot_telemetry = data.readU8() != 0;
FC.MOTOR_CONFIG.use_esc_sensor = data.readU8() != 0;

if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
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@haslinghuis , the need for if semver 1.42 is removed now correct?

FC.MOTOR_CONFIG.motor_count = data.readU8();
FC.MOTOR_CONFIG.motor_poles = data.readU8();
FC.MOTOR_CONFIG.use_dshot_telemetry = data.readU8() != 0;
FC.MOTOR_CONFIG.use_esc_sensor = data.readU8() != 0;
}

if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_47)) {
FC.MOTOR_CONFIG.use_dshot_edt = data.readU8() != 0;
}
break;
case MSPCodes.MSP_COMPASS_CONFIG:
FC.COMPASS_CONFIG.mag_declination = data.read16() / 10;
Expand Down Expand Up @@ -1816,9 +1823,14 @@ MspHelper.prototype.crunch = function(code, modifierCode = undefined) {
.push16(FC.MOTOR_CONFIG.maxthrottle)
.push16(FC.MOTOR_CONFIG.mincommand);

// Introduced in 1.42
buffer.push8(FC.MOTOR_CONFIG.motor_poles);
buffer.push8(FC.MOTOR_CONFIG.use_dshot_telemetry ? 1 : 0);
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_42)) {
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same as above (no need semver 1.42)?

buffer.push8(FC.MOTOR_CONFIG.motor_poles);
buffer.push8(FC.MOTOR_CONFIG.use_dshot_telemetry ? 1 : 0);
}

if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_47)) {
buffer.push8(FC.MOTOR_CONFIG.use_dshot_edt ? 1 : 0);
}
break;
case MSPCodes.MSP_SET_GPS_CONFIG:
buffer.push8(FC.GPS_CONFIG.provider)
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42 changes: 41 additions & 1 deletion src/js/tabs/motors.js
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Expand Up @@ -12,14 +12,17 @@ import FC from "../fc";
import MSP from "../msp";
import { mixerList } from "../model";
import MSPCodes from "../msp/MSPCodes";
import { API_VERSION_1_46, API_VERSION_1_47 } from "../data_storage";
import EscProtocols from "../utils/EscProtocols";
import { updateTabList } from "../utils/updateTabList";
import { isInt, getMixerImageSrc } from "../utils/common";
import * as d3 from 'd3';
import $ from 'jquery';
import semver from 'semver';

const motors = {
previousDshotBidir: null,
previousDshotEdt: null,
previousFilterDynQ: null,
previousFilterDynCount: null,
analyticsChanges: {},
Expand Down Expand Up @@ -275,6 +278,7 @@ motors.initialize = async function (callback) {
feature12: FC.FEATURE_CONFIG.features.isEnabled('3D'),
feature27: FC.FEATURE_CONFIG.features.isEnabled('ESC_SENSOR'),
dshotBidir: FC.MOTOR_CONFIG.use_dshot_telemetry,
dshotEdt: FC.MOTOR_CONFIG.use_dshot_edt,
motorPoles: FC.MOTOR_CONFIG.motor_poles,
digitalIdlePercent: FC.PID_ADVANCED_CONFIG.digitalIdlePercent,
idleMinRpm: FC.ADVANCED_TUNING.idleMinRpm,
Expand Down Expand Up @@ -695,6 +699,7 @@ motors.initialize = async function (callback) {
dshotBidirElement.prop('checked', FC.MOTOR_CONFIG.use_dshot_telemetry).trigger("change");

self.previousDshotBidir = FC.MOTOR_CONFIG.use_dshot_telemetry;
self.previousDshotEdt = FC.MOTOR_CONFIG.use_dshot_edt;
self.previousFilterDynQ = FC.FILTER_CONFIG.dyn_notch_q;
self.previousFilterDynCount = FC.FILTER_CONFIG.dyn_notch_count;

Expand All @@ -704,6 +709,13 @@ motors.initialize = async function (callback) {
self.analyticsChanges['BidirectionalDshot'] = newValue;
FC.MOTOR_CONFIG.use_dshot_telemetry = value;

if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_47) && !value) {
FC.MOTOR_CONFIG.use_dshot_edt = value;

const dshotEdtElement = $('input[id="dshotEdt"]');
dshotEdtElement.prop('checked', FC.MOTOR_CONFIG.use_dshot_edt).trigger("change");
}

const rpmFilterIsDisabled = FC.FILTER_CONFIG.gyro_rpm_notch_harmonics === 0;
FC.FILTER_CONFIG.dyn_notch_count = self.previousFilterDynCount;
FC.FILTER_CONFIG.dyn_notch_q = self.previousFilterDynQ;
Expand Down Expand Up @@ -733,6 +745,21 @@ motors.initialize = async function (callback) {
FC.FILTER_CONFIG.dyn_notch_count = self.previousFilterDynCount;
FC.FILTER_CONFIG.dyn_notch_q = self.previousFilterDynQ;
}

if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_46)) {
const dshotEdtElement = $('input[id="dshotEdt"]');

dshotEdtElement.prop('checked', FC.MOTOR_CONFIG.use_dshot_edt).trigger("change");
dshotEdtElement.on("change", function () {
const value = dshotEdtElement.is(':checked');
const newValue = (value !== FC.MOTOR_CONFIG.use_dshot_edt) ? 'On' : 'Off';

self.analyticsChanges['DshotEdt'] = newValue;
FC.MOTOR_CONFIG.use_dshot_edt = value;
});
}

$('input[name="motorPoles"]').val(FC.MOTOR_CONFIG.motor_poles);
});

$('input[name="motorPoles"]').val(FC.MOTOR_CONFIG.motor_poles);
Expand Down Expand Up @@ -768,14 +795,23 @@ motors.initialize = async function (callback) {
$('div.digitalIdlePercent').hide();
}

$('.escSensor').toggle(protocolConfigured && digitalProtocol);
$('.escSensor').toggle(
protocolConfigured && digitalProtocol && (
semver.lt(FC.CONFIG.apiVersion, API_VERSION_1_46) ||
semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_47) && !FC.MOTOR_CONFIG.use_dshot_edt));

$('div.checkboxDshotBidir').toggle(protocolConfigured && digitalProtocol);
$('div.motorPoles').toggle(protocolConfigured && rpmFeaturesVisible);

$('.escMotorStop').toggle(protocolConfigured);

$('#escProtocolDisabled').toggle(!protocolConfigured);
$('.checkboxDshotEdt').toggle(
semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_47) &&
protocolConfigured &&
digitalProtocol &&
dshotBidirElement.is(':checked') &&
!$("input[name='ESC_SENSOR']").is(':checked'));

//trigger change unsyncedPWMSwitch to show/hide Motor PWM freq input
unsyncedPWMSwitchElement.trigger("change");
Expand All @@ -797,6 +833,10 @@ motors.initialize = async function (callback) {

//trigger change dshotBidir and ESC_SENSOR to show/hide Motor Poles tab
dshotBidirElement.change(updateVisibility).trigger("change");
if (semver.gte(FC.CONFIG.apiVersion, API_VERSION_1_47)) {
const dshotEdtElement = $('input[id="dshotEdt"]');
dshotEdtElement.change(updateVisibility).trigger("change");
}
$("input[name='ESC_SENSOR']").on("change", updateVisibility).trigger("change");

// fill throttle
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8 changes: 7 additions & 1 deletion src/tabs/motors.html
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Expand Up @@ -88,8 +88,14 @@
<div class="number checkboxDshotBidir">
<div style="float: left; height: 20px; margin-right: 14px; margin-left: 3px;">
<input type="checkbox" id="dshotBidir" class="toggle" />
<span class="freelabel" i18n="configurationDshotBidir"></span>
</div>
</div>
<div class="number checkboxDshotEdt">
<div style="float: left; height: 20px; margin-right: 14px; margin-left: 3px;">
<input type="checkbox" id="dshotEdt" class="toggle" />
<span class="freelabel" id="dshotEdtLabel" i18n="configurationDshotEdt"></span>
</div>
<span class="freelabel" i18n="configurationDshotBidir"></span>
<div class="helpicon cf_tip" i18n_title="configurationDshotBidirHelp"></div>
</div>
<div class="number motorPoles">
Expand Down