AP_ESC extended status packet addition #27248

Pradeep-Carbonix · 2024-06-06T01:30:46Z

Added support for ESC extended status telemetry data for CubeOrange and AP_Periph :

INPUT_DUTY,
OUTPUT_DUTY,
STATUS_FLAGS

andyp1per · 2024-06-06T10:11:59Z

Do you have a spec for this? I am not finding anything that specifies this.

amilcarlucas · 2024-06-06T14:49:52Z

Binary Name      Text [B]         Data [B]     BSS (B)        Total Flash Change [B] (%)      Flash Free After PR (B)
---------------  ---------------  -----------  -------------  ----------------------------  -------------------------
ardusub          1320 (+0.0838%)  0 (0.0000%)  0 (0.0000%)    1320 (+0.0837%)                                  387144
antennatracker   1252 (+0.0944%)  0 (0.0000%)  -4 (-0.0015%)  1252 (+0.0942%)                                  636060
ardurover        1244 (+0.0760%)  0 (0.0000%)  -4 (-0.0015%)  1244 (+0.0759%)                                  326044
arduplane        1376 (+0.0773%)  0 (0.0000%)  0 (0.0000%)    1376 (+0.0771%)                                  179576
arducopter-heli  1248 (+0.0697%)  0 (0.0000%)  0 (0.0000%)    1248 (+0.0696%)                                  171368
blimp            1268 (+0.0939%)  0 (0.0000%)  -4 (-0.0015%)  1268 (+0.0938%)                                  612848
arducopter       1268 (+0.0711%)  0 (0.0000%)  -4 (-0.0015%)  1268 (+0.0709%)                                  176768

loki077 · 2024-06-11T03:05:27Z

@andyp1per it is a custom APD code which is made for us. There is no document for it.
Even if ardupilot don't accept the APDF120 custom implementation we would still like the ESCX backend support for logging to be merged.

loki077 · 2024-06-11T03:07:23Z

This is the telemetry Structure :
The flags:
// Enumeration defining bit positions for each flag
typedef enum
{
overTemp_flag = 0,
signalLoss_flag, // 200mS since last throttle packet
overVoltage_flag,
sysRebooted_flag, // After every reboot or power cycle this bit will stay high for 30 seconds for cube to capture it.
} flagTypes;

The telem struct:
typedef struct
{
int8_t temperature;
uint16_t voltage;
uint16_t current;
uint16_t consumption;
uint16_t rpm;
uint8_t inputDuty;
uint8_t outputDuty; //mS
uint8_t flags;
uint8_t crc;
}attribute((packed)) telem_t;

loki077 · 2024-06-11T03:07:42Z

https://github.com/dronecan/DSDL/blob/master/uavcan/equipment/esc/1036.StatusExtended.uavcan#L1

loki077 · 2024-06-11T03:11:15Z

@Pradeep-Carbonix @robertlong13 would be a good idea to split this into 2 PR one for ESCX support and other for APDF120 custom Firmware.

libraries/AP_BLHeli/AP_BLHeli.cpp

andyp1per · 2024-06-11T13:14:36Z

Even if ardupilot don't accept the APDF120 custom implementation we would still like the ESCX backend support for logging to be merged.

So its not BLHeli at all. I think we should make this clear in the naming and in the define to enable it. EDT2 is also providing some of this information and some is also available in the BLHeli status frame - we need to not get these muddled up and not trample over one.

andyp1per

Like EDTv2 I think we need to be able to compile this out with something like:
AP_EXTENDED_APD_TELEM_ENABLE

libraries/AP_BLHeli/AP_BLHeli.cpp

libraries/AP_ESC_Telem/AP_ESC_Telem.cpp

Pradeep-Carbonix · 2024-06-25T06:30:00Z

This PR now has changes related to DroneCAN ESCX implementation only. BLHeli implementation is removed from this PR.

andyp1per

Need a different name but changes looking good.

libraries/AP_HAL/AP_HAL_Boards.h

libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h

libraries/AP_ESC_Telem/LogStructure.h

libraries/AP_HAL/AP_HAL_Boards.h

libraries/AP_ESC_Telem/LogStructure.h

libraries/AP_ESC_Telem/AP_ESC_Telem.cpp

Pradeep-Carbonix · 2024-07-12T03:57:33Z

CI check autotest (sitltest-plane) is failing.
Tried to rerun on our VM -
./Tools/autotest/autotest.py --no-clean build.Plane test.Plane.SDCardWPTest
PASSED STEP: test.Plane.SDCardWPTest at Fri Jul 12 11:39:05 2024

tridge

this is getting close now, thanks!

Tools/scripts/build_options.py

libraries/AP_DroneCAN/AP_DroneCAN.h

andyp1per · 2024-07-18T08:12:57Z

libraries/AP_HAL/AP_HAL_Boards.h

@@ -188,6 +188,10 @@
 #define AP_EXTENDED_DSHOT_TELEM_V2_ENABLED HAL_REQUIRES_BDSHOT_SUPPORT
 #endif

+#ifndef AP_EXTENDED_ESC_TELEM_ENABLED
+#define AP_EXTENDED_ESC_TELEM_ENABLED (CONFIG_HAL_BOARD == HAL_BOARD_SITL)


Do you not want it enabled on more than sitl? Incidentally, since this is really just to handle dronecan I think the define should be based on drone can being available.

Enabling this feature for sitl up in the previous discussion. Mainly to help with autotests.
AP_ESC_Telem_config.h is added with -
#ifndef AP_EXTENDED_ESC_TELEM_ENABLED
#define AP_EXTENDED_ESC_TELEM_ENABLED HAL_ENABLE_DRONECAN_DRIVERS
#endif

I think we should just enable for all drone CAN builds.

IamPete1 · 2024-07-27T19:27:34Z

libraries/AP_ESC_Telem/AP_ESC_Telem.h

+#if AP_EXTENDED_ESC_TELEM_ENABLED
+    // get an individual ESC's input duty if available, returns true on success
+    bool get_input_duty(uint8_t esc_index, uint8_t& input_duty) const;
+
+    // get an individual ESC's output duty if available, returns true on success
+    bool get_output_duty(uint8_t esc_index, uint8_t& output_duty) const;
+
+    // get an individual ESC's status flags if available, returns true on success
+    bool get_flags(uint8_t esc_index, uint32_t& flags) const;
+#endif // AP_EXTENDED_ESC_TELEM_ENABLED


I don't think these are used anywhere?

The APD ESC extended status telemetry messages implementation utilizes these functions. Given its specificity to our requirements, we decided to create two separate pull requests.

The first pull request includes the driver implementation (which is this one), as we believe it could be beneficial to a broader audience.
The second pull request will contain the AP_Periph interface with the APD ESC, which we plan to submit at a later time.

If they are unused they should not be included because they cannot have been tested. You should add them in the future PR with the periph interface.

IamPete1 · 2024-07-27T19:28:08Z

Tools/scripts/extract_features.py

@@ -62,6 +62,8 @@ def __init__(self, filename, nm="arm-none-eabi-nm", strings="strings"):
            ('HAL_EFI_ENABLED', 'AP_EFI::AP_EFI',),
            ('AP_EFI_{type}_ENABLED', 'AP_EFI_(?P<type>.*)::update',),

+            ('AP_EXTENDED_ESC_TELEM_ENABLED', 'AP_Extended_Telem::get_input_duty',),


I suspect this won't work because the get_input_duty function is not used anywhere so the linker will remove it.

The APD ESC extended status telemetry messages implementation utilizes these functions. Given its specificity to our requirements, we decided to create two separate pull requests.

The first pull request includes the driver implementation (which is this one), as we believe it could be beneficial to a broader audience.
The second pull request will contain the AP_Periph interface with the APD ESC, which we plan to submit at a later time.

AP_Extended_Telem::get_input_duty is not even a function that exists in this PR. As I say, even if it had the correct class name it would not work for extract features because its not used so it won't be in the compiled output which extract features uses.

IamPete1 · 2024-07-27T19:29:24Z

libraries/AP_DroneCAN/AP_DroneCAN.cpp

+ */
+void AP_DroneCAN::handle_esc_ext_status(const CanardRxTransfer& transfer, const uavcan_equipment_esc_StatusExtended& msg)
+{
+#if HAL_WITH_ESC_TELEM


We should add a error somewhere if you get AP_EXTENDED_ESC_TELEM_ENABLED and not HAL_WITH_ESC_TELEM

And then we won't need this check.

Thank you @IamPete1, I have added the lines suggested into AP_ESC_Telem_config.h

IamPete1 · 2024-07-27T20:05:07Z

@Pradeep-Carbonix I have done some the fixes for this PR here: https://github.com/IamPete1/ardupilot/tree/extended_esc. I can push over this branch if that is OK with you. Or you could do it yourself.

- DroneCAN Callback function - handle_esc_ext_status definition

- ESCX structure definition - Backend function to update Extended telemetry data (ESCX) - Logging ESCX data - ESCX conditional compilation directives

IamPete1 · 2024-07-31T13:03:43Z

Just to re-iterate, I have done all the fixes that I think this PR needs here: https://github.com/IamPete1/ardupilot/commits/extended_esc/

tridge · 2024-08-06T00:58:01Z

patches merged by Pete's PR #27755

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Pradeep-Carbonix force-pushed the APD_F120_new_packet_modification branch from 9da04c7 to bde0161 Compare June 25, 2024 06:23

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Pradeep-Carbonix changed the title ~~Apd f120 new packet modification~~ AP_ESC extended status packet addition Jun 26, 2024

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Pradeep-Carbonix added 3 commits July 30, 2024 11:34

AP_DroneCAN: addition of ESC extended status message

3870bd2

- DroneCAN Callback function - handle_esc_ext_status definition

AP_ESC_Telem: addition of ESC extended status message

c539d5f

- ESCX structure definition - Backend function to update Extended telemetry data (ESCX) - Logging ESCX data - ESCX conditional compilation directives

Tools: addition of ESC extended status message

c67e661

Pradeep-Carbonix force-pushed the APD_F120_new_packet_modification branch from cdfb37d to c67e661 Compare July 30, 2024 01:35

loki077 mentioned this pull request Jul 30, 2024

Handle esc extended status #27004

Closed

IamPete1 mentioned this pull request Aug 5, 2024

AP_ESC_Telem / AP_DroneCAN: add support for extended ESC status message. #27755

Merged

tridge closed this Aug 6, 2024

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AP_ESC extended status packet addition #27248

AP_ESC extended status packet addition #27248

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AP_ESC extended status packet addition #27248

AP_ESC extended status packet addition #27248

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