WIP

.gitignore

@@ -93,6 +93,7 @@ mav.log
 mav.log.raw
 mav.parm
 mission.stg
+output/
 /defaults.parm
 /ArduCopter/defaults.parm
 /ArduPlane/defaults.parm

Tools/AP_Periph/can.cpp

@@ -1705,12 +1705,13 @@ void AP_Periph_FW::esc_telem_update()
 #endif
 
         pkt.error_count = 0;
-        uint16_t error_count, count;
+        uint32_t error_count;
+        uint16_t count;
         if (esc_telem.get_count(i, count)) {
-            pkt.error_count = count;
+            pkt.error_count = count & 0xFF;
         }
         if (esc_telem.get_error_count(i, error_count)) {
-            pkt.error_count += (error_count & 0xFFFF) << 16;
+            pkt.error_count += (error_count & 0xFFFFFF) << 8;
         }
 
         uint8_t buffer[UAVCAN_EQUIPMENT_ESC_STATUS_MAX_SIZE] {};

Tools/Carbonix_scripts/carbonix_waf_build.sh

@@ -6,18 +6,18 @@ set -e
 echo "Running distclean..."
 ./waf distclean
 
-main_boards=("CubeOrange" "CubeOrangePlus" "CubeOrange-Volanti" "CubeOrangePlus-Volanti" "CubeOrange-Ottano" "CubeOrangePlus-Ottano")
-for board in "${main_boards[@]}"; do
-  echo "Compiling ArduPlane for $board..."
-  ./waf configure --board "$board" -g
-  ./waf plane
-done
+# main_boards=("CubeOrange" "CubeOrangePlus" "CubeOrange-Volanti" "CubeOrangePlus-Volanti" "CubeOrange-Ottano" "CubeOrangePlus-Ottano")
+# for board in "${main_boards[@]}"; do
+#   echo "Compiling ArduPlane for $board..."
+#   ./waf configure --board "$board" -g
+#   ./waf plane
+# done
 
-periph_boards=("CarbonixF405" "CarbonixF405-no-crystal")
+periph_boards=("CarbonixF405") # "CarbonixF405-no-crystal")
 
 # Build all periph board with custom parameters
 for board in "${periph_boards[@]}"; do
-  for file in $(find libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/ -name "*.parm"); do
+  for file in $(find libraries/AP_HAL_ChibiOS/hwdef/CarbonixCommon/cpn_params/Volanti/*-M* -name "*.parm"); do
     # Extract the filename without the extension 
     filename=$(basename -- "$file")
     filename="${filename%.*}"
@@ -45,10 +45,10 @@ for board in "${periph_boards[@]}"; do
 done
 
 # Build all Default periph board
-for board in "${periph_boards[@]}"; do
-  echo "Compiling AP_Periph for $board..."
-  ./waf configure --board "$board" -g
-  ./waf AP_Periph
-done
+# for board in "${periph_boards[@]}"; do
+#   echo "Compiling AP_Periph for $board..."
+#   ./waf configure --board "$board" -g
+#   ./waf AP_Periph
+# done
 
 echo "Script completed successfully."

libraries/AP_BLHeli/AP_BLHeli.cpp

@@ -1457,7 +1457,7 @@ void AP_BLHeli::read_telemetry_packet(void)
     const uint8_t motor_idx = motor_map[last_telem_esc];
     if (telem_uart->read(buf, telem_packet_size) < telem_packet_size) {
         // short read, we should have all bytes ready when this function is called
-        increment_error_count(motor_idx - chan_offset);
+        // THIS LINE IS NOT ACTUALLY REACHABLE, SO WE DON'T LOG THIS (the caller already checks)
         return;
     }
 
@@ -1470,7 +1470,7 @@ void AP_BLHeli::read_telemetry_packet(void)
     if (buf[telem_packet_size-1] != crc) {
         // bad crc
         debug("Bad CRC on %u", last_telem_esc);
-        increment_error_count(motor_idx - chan_offset);
+        increment_error_count(motor_idx - chan_offset, 1 << 16);
         return;
     }
     // record the previous rpm so that we can slew to the new one
@@ -1602,7 +1602,7 @@ void AP_BLHeli::update_telemetry(void)
         // if we have more than 10 bytes then we don't know which ESC
         // they are from. Throw them all away
         telem_uart->discard_input();
-        increment_error_count(motor_map[last_telem_esc] - chan_offset);
+        increment_error_count(motor_map[last_telem_esc] - chan_offset, 1);
         return;
     }
     if (nbytes > 0 &&
@@ -1618,7 +1618,7 @@ void AP_BLHeli::update_telemetry(void)
     if (nbytes > 0 && nbytes < telem_packet_size) {
         // we've waited long enough, discard bytes if we don't have 10 yet
         telem_uart->discard_input();
-        increment_error_count(motor_map[last_telem_esc] - chan_offset);
+        increment_error_count(motor_map[last_telem_esc] - chan_offset, 1 << 8);
         return;
     }
     if (nbytes == telem_packet_size) {

libraries/AP_ESC_Telem/AP_ESC_Telem.cpp

@@ -337,7 +337,7 @@ bool AP_ESC_Telem::get_count(uint8_t esc_index, uint16_t& count) const
 }
 
 // get an individual ESC's error count if available, returns true on success
-bool AP_ESC_Telem::get_error_count(uint8_t esc_index, uint16_t& error_count) const
+bool AP_ESC_Telem::get_error_count(uint8_t esc_index, uint32_t& error_count) const
 {
     if (esc_index >= ESC_TELEM_MAX_ESCS) {
         return false;
@@ -607,12 +607,12 @@ void AP_ESC_Telem::update_telem_data(const uint8_t esc_index, const AP_ESC_Telem
 }
 
 // callback to increment the error count in the frontend, should be called by the driver when an error occurs
-void AP_ESC_Telem::increment_error_count(const uint8_t esc_index)
+void AP_ESC_Telem::increment_error_count(const uint8_t esc_index, const uint32_t amount)
 {
     if (esc_index >= ESC_TELEM_MAX_ESCS) {
         return;
     }
-    _telem_data[esc_index].error_count++;
+    _telem_data[esc_index].error_count += amount;
 }
 
 // record an update to the RPM together with timestamp, this allows the notch values to be slewed

libraries/AP_ESC_Telem/AP_ESC_Telem.h

@@ -71,7 +71,7 @@ class AP_ESC_Telem {
     bool get_count(uint8_t esc_index, uint16_t& count) const;
 
     // get an individual ESC's error count if available, returns true on success
-    bool get_error_count(uint8_t esc_index, uint16_t& error_count) const;
+    bool get_error_count(uint8_t esc_index, uint32_t& error_count) const;
 
 #if AP_EXTENDED_ESC_TELEM_ENABLED
     // get an individual ESC's input duty cycle if available, returns true on success
@@ -129,7 +129,7 @@ class AP_ESC_Telem {
     void update_telem_data(const uint8_t esc_index, const AP_ESC_Telem_Backend::TelemetryData& new_data, const uint16_t data_mask);
 
     // callback to increment the error count in the frontend, should be called by the driver when an error occurs
-    void increment_error_count(const uint8_t esc_index);
+    void increment_error_count(const uint8_t esc_index, const uint32_t amount);
 
 #if AP_SCRIPTING_ENABLED
     /*

libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.cpp

@@ -46,8 +46,8 @@ void AP_ESC_Telem_Backend::update_telem_data(const uint8_t esc_index, const Tele
 }
 
 // callback to increment the error count in the frontend, should be called by the driver when an error occurs
-void AP_ESC_Telem_Backend::increment_error_count(const uint8_t esc_index) {
-    _frontend->increment_error_count(esc_index);
+void AP_ESC_Telem_Backend::increment_error_count(const uint8_t esc_index, const uint32_t amount) {
+    _frontend->increment_error_count(esc_index, amount);
 }
 
 /*

libraries/AP_ESC_Telem/AP_ESC_Telem_Backend.h

@@ -75,7 +75,7 @@ class AP_ESC_Telem_Backend {
     void update_telem_data(const uint8_t esc_index, const TelemetryData& new_data, const uint16_t data_present_mask);
 
     // callback to increment the error count in the frontend, should be called by the driver when an error occurs
-    void increment_error_count(const uint8_t esc_index);
+    void increment_error_count(const uint8_t esc_index, const uint32_t amount);
 
 private:
     AP_ESC_Telem* _frontend;