Implementation of KISS ESC Telemetry protocol

Makefile

@@ -589,7 +589,8 @@ HIGHEND_SRC = \
             telemetry/hott.c \
             telemetry/smartport.c \
             telemetry/ltm.c \
-            telemetry/mavlink.c
+            telemetry/mavlink.c \
+			telemetry/esc_telemetry.c \
 
 ifeq ($(TARGET),$(filter $(TARGET),$(F4_TARGETS)))
 VCP_SRC = \

src/main/build/debug.h

@@ -59,5 +59,6 @@ typedef enum {
     DEBUG_VELOCITY,
     DEBUG_DTERM_FILTER,
     DEBUG_ANGLERATE,
+    DEBUG_ESC_TELEMETRY,
     DEBUG_COUNT
 } debugType_e;

src/main/drivers/pwm_output.h

@@ -64,6 +64,7 @@ typedef struct {
     const timerHardware_t *timerHardware;
     uint16_t value;
     uint16_t timerDmaSource;
+    volatile bool requestTelemetry;
 #if defined(STM32F3) || defined(STM32F4) || defined(STM32F7)
     uint32_t dmaBuffer[MOTOR_DMA_BUFFER_SIZE];
 #else
@@ -75,6 +76,8 @@ typedef struct {
 #endif
 } motorDmaOutput_t;
 
+motorDmaOutput_t *getMotorDmaOutput(uint8_t index);
+
 extern bool pwmMotorsEnabled;
 
 struct timerHardware_s;
@@ -111,4 +114,3 @@ pwmOutputPort_t *pwmGetMotors(void);
 bool pwmIsSynced(void);
 void pwmDisableMotors(void);
 void pwmEnableMotors(void);
-

src/main/drivers/pwm_output_stm32f3xx.c

@@ -46,6 +46,11 @@ static uint8_t dmaMotorTimerCount = 0;
 static motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
 static motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
 
+motorDmaOutput_t *getMotorDmaOutput(uint8_t index)
+{
+    return &dmaMotors[index];
+}
+
 uint8_t getTimerIndex(TIM_TypeDef *timer)
 {
     for (int i = 0; i < dmaMotorTimerCount; i++) {
@@ -66,7 +71,9 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
 
     motorDmaOutput_t * const motor = &dmaMotors[index];
 
-    uint16_t packet = (value << 1) | 0;                            // Here goes telemetry bit (false for now)
+    uint16_t packet = (value << 1) | (motor->requestTelemetry ? 1 : 0);
+    motor->requestTelemetry = false;    // reset telemetry request to make sure it's triggered only once in a row
+
     // compute checksum
     int csum = 0;
     int csum_data = packet;

src/main/drivers/pwm_output_stm32f4xx.c

@@ -45,6 +45,11 @@ static uint8_t dmaMotorTimerCount = 0;
 static motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
 static motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
 
+motorDmaOutput_t *getMotorDmaOutput(uint8_t index)
+{
+    return &dmaMotors[index];
+}
+
 uint8_t getTimerIndex(TIM_TypeDef *timer)
 {
     for (int i = 0; i < dmaMotorTimerCount; i++) {
@@ -64,7 +69,9 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
 
     motorDmaOutput_t * const motor = &dmaMotors[index];
 
-    uint16_t packet = (value << 1) | 0;                            // Here goes telemetry bit (false for now)
+    uint16_t packet = (value << 1) | (motor->requestTelemetry ? 1 : 0);
+    motor->requestTelemetry = false;    // reset telemetry request to make sure it's triggered only once in a row
+
     // compute checksum
     int csum = 0;
     int csum_data = packet;

src/main/drivers/pwm_output_stm32f7xx.c

@@ -44,6 +44,11 @@ static uint8_t dmaMotorTimerCount = 0;
 static motorDmaTimer_t dmaMotorTimers[MAX_DMA_TIMERS];
 static motorDmaOutput_t dmaMotors[MAX_SUPPORTED_MOTORS];
 
+motorDmaOutput_t *getMotorDmaOutput(uint8_t index)
+{
+    return &dmaMotors[index];
+}
+
 uint8_t getTimerIndex(TIM_TypeDef *timer)
 {
     for (int i = 0; i < dmaMotorTimerCount; i++) {
@@ -64,7 +69,9 @@ void pwmWriteDigital(uint8_t index, uint16_t value)
 
     motorDmaOutput_t * const motor = &dmaMotors[index];
 
-    uint16_t packet = (value << 1) | 0;                            // Here goes telemetry bit (false for now)
+    uint16_t packet = (value << 1) | (motor->requestTelemetry ? 1 : 0);
+    motor->requestTelemetry = false;    // reset telemetry request to make sure it's triggered only once in a row
+
     // compute checksum
     int csum = 0;
     int csum_data = packet;

src/main/fc/config.c

@@ -424,6 +424,7 @@ void resetBatteryConfig(batteryConfig_t *batteryConfig)
     batteryConfig->vbatmincellvoltage = 33;
     batteryConfig->vbatwarningcellvoltage = 35;
     batteryConfig->vbathysteresis = 1;
+    batteryConfig->batteryMeterType = BATTERY_SENSOR_ADC;
     batteryConfig->currentMeterOffset = 0;
     batteryConfig->currentMeterScale = 400; // for Allegro ACS758LCB-100U (40mV/A)
     batteryConfig->batteryCapacity = 0;

src/main/fc/config.h

@@ -55,6 +55,7 @@ typedef enum {
     FEATURE_VTX = 1 << 24,
     FEATURE_RX_SPI = 1 << 25,
     FEATURE_SOFTSPI = 1 << 26,
+    FEATURE_ESC_TELEMETRY = 1 << 27,
 } features_e;
 
 void beeperOffSet(uint32_t mask);

src/main/fc/fc_tasks.c

@@ -66,6 +66,7 @@
 #include "scheduler/scheduler.h"
 
 #include "telemetry/telemetry.h"
+#include "telemetry/esc_telemetry.h"
 
 #include "config/feature.h"
 #include "config/config_profile.h"
@@ -194,6 +195,15 @@ static void taskTelemetry(uint32_t currentTime)
 }
 #endif
 
+#ifdef USE_ESC_TELEMETRY
+static void taskEscTelemetry(uint32_t currentTime)
+{
+    if (feature(FEATURE_ESC_TELEMETRY)) {
+        escTelemetryProcess(currentTime);
+     }
+ }
+#endif
+
 void fcTasksInit(void)
 {
     schedulerInit();
@@ -254,6 +264,9 @@ void fcTasksInit(void)
 #ifdef USE_BST
     setTaskEnabled(TASK_BST_MASTER_PROCESS, true);
 #endif
+#ifdef USE_ESC_TELEMETRY
+    setTaskEnabled(TASK_ESC_TELEMETRY, feature(FEATURE_ESC_TELEMETRY));
+#endif
 #ifdef CMS
 #ifdef USE_MSP_DISPLAYPORT
     setTaskEnabled(TASK_CMS, true);
@@ -421,6 +434,15 @@ cfTask_t cfTasks[TASK_COUNT] = {
     },
 #endif
 
+#ifdef USE_ESC_TELEMETRY
+    [TASK_ESC_TELEMETRY] = {
+        .taskName = "ESC_TELEMETRY",
+        .taskFunc = taskEscTelemetry,
+        .desiredPeriod = 1000000 / 100,         // 100 Hz
+        .staticPriority = TASK_PRIORITY_LOW,
+    },
+#endif
+
 #ifdef CMS
     [TASK_CMS] = {
         .taskName = "CMS",

src/main/io/serial.h

@@ -37,6 +37,7 @@ typedef enum {
     FUNCTION_BLACKBOX            = (1 << 7), // 128
     FUNCTION_PASSTHROUGH         = (1 << 8), // 256
     FUNCTION_TELEMETRY_MAVLINK   = (1 << 9), // 512
+    FUNCTION_TELEMETRY_ESC       = (1 << 10), // 1024
 } serialPortFunction_e;
 
 typedef enum {

src/main/io/serial_cli.c

@@ -231,7 +231,7 @@ static const char * const featureNames[] = {
     "SONAR", "TELEMETRY", "CURRENT_METER", "3D", "RX_PARALLEL_PWM",
     "RX_MSP", "RSSI_ADC", "LED_STRIP", "DISPLAY", "OSD",
     "BLACKBOX", "CHANNEL_FORWARDING", "TRANSPONDER", "AIRMODE",
-    "SDCARD", "VTX", "RX_SPI", "SOFTSPI", NULL
+    "SDCARD", "VTX", "RX_SPI", "SOFTSPI", "ESC_TELEMETRY", NULL
 };
 
 // sync this with rxFailsafeChannelMode_e
@@ -513,6 +513,7 @@ static const char * const lookupTableDebug[DEBUG_COUNT] = {
     "VELOCITY",
     "DFILTER",
     "ANGLERATE",
+    "ESC_TELEMETRY",
 };
 
 #ifdef OSD
@@ -3600,14 +3601,14 @@ static void cliTasks(char *cmdline)
                 subTaskFrequency = (int)(1000000.0f / ((float)cycleTime));
                 taskFrequency = subTaskFrequency / masterConfig.pid_process_denom;
                 if (masterConfig.pid_process_denom > 1) {
-                    cliPrintf("%02d - (%12s) ", taskId, taskInfo.taskName);
+                    cliPrintf("%02d - (%13s) ", taskId, taskInfo.taskName);
                 } else {
                     taskFrequency = subTaskFrequency;
-                    cliPrintf("%02d - (%8s/%3s) ", taskId, taskInfo.subTaskName, taskInfo.taskName);
+                    cliPrintf("%02d - (%9s/%3s) ", taskId, taskInfo.subTaskName, taskInfo.taskName);
                 }
             } else {
                 taskFrequency = (int)(1000000.0f / ((float)taskInfo.latestDeltaTime));
-                cliPrintf("%02d - (%12s) ", taskId, taskInfo.taskName);
+                cliPrintf("%02d - (%13s) ", taskId, taskInfo.taskName);
             }
             const int maxLoad = (taskInfo.maxExecutionTime * taskFrequency + 5000) / 1000;
             const int averageLoad = (taskInfo.averageExecutionTime * taskFrequency + 5000) / 1000;
@@ -3619,11 +3620,11 @@ static void cliTasks(char *cmdline)
                     taskFrequency, taskInfo.maxExecutionTime, taskInfo.averageExecutionTime,
                     maxLoad/10, maxLoad%10, averageLoad/10, averageLoad%10, taskInfo.totalExecutionTime / 1000);
             if (taskId == TASK_GYROPID && masterConfig.pid_process_denom > 1) {
-                cliPrintf("   - (%12s) %6d\r\n", taskInfo.subTaskName, subTaskFrequency);
+                cliPrintf("   - (%13s) %6d\r\n", taskInfo.subTaskName, subTaskFrequency);
             }
         }
     }
-    cliPrintf("Total (excluding SERIAL) %22d.%1d%% %4d.%1d%%\r\n", maxLoadSum/10, maxLoadSum%10, averageLoadSum/10, averageLoadSum%10);
+    cliPrintf("Total (excluding SERIAL) %23d.%1d%% %4d.%1d%%\r\n", maxLoadSum/10, maxLoadSum%10, averageLoadSum/10, averageLoadSum%10);
 }
 #endif
 

src/main/main.c

@@ -104,6 +104,7 @@
 #include "sensors/initialisation.h"
 
 #include "telemetry/telemetry.h"
+#include "telemetry/esc_telemetry.h"
 
 #include "flight/pid.h"
 #include "flight/imu.h"
@@ -491,6 +492,12 @@ void init(void)
     }
 #endif
 
+#ifdef USE_ESC_TELEMETRY
+    if (feature(FEATURE_ESC_TELEMETRY)) {
+        escTelemetryInit();
+    }
+#endif
+
 #ifdef USB_CABLE_DETECTION
     usbCableDetectInit();
 #endif

src/main/scheduler/scheduler.h

@@ -85,6 +85,9 @@ typedef enum {
 #ifdef USE_BST
     TASK_BST_MASTER_PROCESS,
 #endif
+#ifdef USE_ESC_TELEMETRY
+    TASK_ESC_TELEMETRY,
+#endif
 #ifdef CMS
     TASK_CMS,
 #endif

src/main/sensors/battery.c

@@ -35,6 +35,8 @@
 
 #include "sensors/battery.h"
 
+#include "telemetry/esc_telemetry.h"
+
 #include "fc/rc_controls.h"
 #include "io/beeper.h"
 
@@ -65,20 +67,25 @@ static uint16_t batteryAdcToVoltage(uint16_t src)
 
 static void updateBatteryVoltage(void)
 {
-    static biquadFilter_t vbatFilter;
+    if (batteryConfig->batteryMeterType == BATTERY_SENSOR_ESC) {
-    static bool vbatFilterIsInitialised;
+        vbat = getEscTelemetryVbat();
-
+    }
-    // store the battery voltage with some other recent battery voltage readings
+    else {
-    uint16_t vbatSample = vbatLatestADC = adcGetChannel(ADC_BATTERY);
+        static biquadFilter_t vbatFilter;
-
+        static bool vbatFilterIsInitialised;
-    if (debugMode == DEBUG_BATTERY) debug[0] = vbatSample;
+
-
+        // store the battery voltage with some other recent battery voltage readings
-    if (!vbatFilterIsInitialised) {
+        uint16_t vbatSample = vbatLatestADC = adcGetChannel(ADC_BATTERY);
-        biquadFilterInitLPF(&vbatFilter, VBATT_LPF_FREQ, 50000); //50HZ Update
+
-        vbatFilterIsInitialised = true;
+        if (debugMode == DEBUG_BATTERY) debug[0] = vbatSample;
+
+        if (!vbatFilterIsInitialised) {
+            biquadFilterInitLPF(&vbatFilter, VBATT_LPF_FREQ, 50000); //50HZ Update
+            vbatFilterIsInitialised = true;
+        }
+        vbatSample = biquadFilterApply(&vbatFilter, vbatSample);
+        vbat = batteryAdcToVoltage(vbatSample);
     }
-    vbatSample = biquadFilterApply(&vbatFilter, vbatSample);
-    vbat = batteryAdcToVoltage(vbatSample);
 
     if (debugMode == DEBUG_BATTERY) debug[1] = vbat;
 }
@@ -201,10 +208,18 @@ void updateCurrentMeter(int32_t lastUpdateAt, rxConfig_t *rxConfig, uint16_t dea
         case CURRENT_SENSOR_NONE:
             amperage = 0;
             break;
+        case CURRENT_SENSOR_ESC:
+            amperage = getEscTelemetryCurrent();
+            break;
     }
 
-    mAhdrawnRaw += (amperage * lastUpdateAt) / 1000;
+    if (batteryConfig->currentMeterType == CURRENT_SENSOR_ESC) {
-    mAhDrawn = mAhdrawnRaw / (3600 * 100);
+        mAhDrawn = getEscTelemetryConsumption();
+    }
+    else {
+        mAhdrawnRaw += (amperage * lastUpdateAt) / 1000;
+        mAhDrawn = mAhdrawnRaw / (3600 * 100);
+    }
 }
 
 float calculateVbatPidCompensation(void) {

src/main/sensors/battery.h

@@ -31,9 +31,17 @@ typedef enum {
     CURRENT_SENSOR_NONE = 0,
     CURRENT_SENSOR_ADC,
     CURRENT_SENSOR_VIRTUAL,
-    CURRENT_SENSOR_MAX = CURRENT_SENSOR_VIRTUAL
+    CURRENT_SENSOR_ESC,
+    CURRENT_SENSOR_MAX = CURRENT_SENSOR_ESC
 } currentSensor_e;
 
+typedef enum {
+    BATTERY_SENSOR_NONE = 0,
+    BATTERY_SENSOR_ADC,
+    BATTERY_SENSOR_ESC,
+    BATTERY_SENSOR_MAX = BATTERY_SENSOR_ESC
+} batterySensor_e;
+
 typedef struct batteryConfig_s {
     uint8_t vbatscale;                      // adjust this to match battery voltage to reported value
     uint8_t vbatresdivval;                  // resistor divider R2 (default NAZE 10(K))
@@ -42,10 +50,11 @@ typedef struct batteryConfig_s {
     uint8_t vbatmincellvoltage;             // minimum voltage per cell, this triggers battery critical alarm, in 0.1V units, default is 33 (3.3V)
     uint8_t vbatwarningcellvoltage;         // warning voltage per cell, this triggers battery warning alarm, in 0.1V units, default is 35 (3.5V)
     uint8_t vbathysteresis;                 // hysteresis for alarm, default 1 = 0.1V
+    batterySensor_e batteryMeterType;       // type of battery meter uses, either ADC or ESC
 
     int16_t currentMeterScale;             // scale the current sensor output voltage to milliamps. Value in 1/10th mV/A
     uint16_t currentMeterOffset;            // offset of the current sensor in millivolt steps
-    currentSensor_e  currentMeterType;      // type of current meter used, either ADC or virtual
+    currentSensor_e  currentMeterType;      // type of current meter used, either ADC, Virtual or ESC
 
     // FIXME this doesn't belong in here since it's a concern of MSP, not of the battery code.
     uint8_t multiwiiCurrentMeterOutput;     // if set to 1 output the amperage in milliamp steps instead of 0.01A steps via msp

src/main/target/KISSFC/target.h

@@ -24,6 +24,10 @@
 #define SBUS_PORT_OPTIONS (SERIAL_STOPBITS_2 | SERIAL_PARITY_EVEN | SERIAL_INVERTED | SERIAL_BIDIR)
 
 #define USE_DSHOT
+#define USE_ESC_TELEMETRY
+
+#define USE_ESCSERIAL
+#define ESCSERIAL_TIMER_TX_HARDWARE 6
 
 #define LED0                    PB1
 

src/main/telemetry/esc_telemetry.c

@@ -0,0 +1,298 @@
+#include <stdbool.h>
+#include <stdint.h>
+#include <stdlib.h>
+
+#include <platform.h>
+
+#include "fc/config.h"
+#include "config/feature.h"
+#include "config/config_master.h"
+
+#include "common/utils.h"
+
+#include "drivers/system.h"
+#include "drivers/serial.h"
+#include "drivers/serial_uart.h"
+#include "drivers/pwm_output.h"
+
+#include "io/serial.h"
+
+#include "flight/mixer.h"
+
+#include "sensors/battery.h"
+
+#include "esc_telemetry.h"
+
+#include "build/debug.h"
+
+/*
+KISS ESC TELEMETRY PROTOCOL
+---------------------------
+
+One transmission will have 10 times 8-bit bytes sent with 115200 baud and 3.6V.
+
+Byte 0: Temperature
+Byte 1: Voltage high byte
+Byte 2: Voltage low byte
+Byte 3: Current high byte
+Byte 4: Current low byte
+Byte 5: Consumption high byte
+Byte 6: Consumption low byte
+Byte 7: Rpm high byte
+Byte 8: Rpm low byte
+Byte 9: 8-bit CRC
+
+*/
+
+/*
+DEBUG INFORMATION
+-----------------
+
+set debug_mode = DEBUG_ESC_TELEMETRY in cli
+
+0: current motor index requested
+1: number of timeouts
+2: voltage
+3: current
+*/
+
+typedef struct {
+    bool skipped;
+    uint8_t temperature;
+    uint16_t voltage;
+    uint16_t current;
+    uint16_t consumption;
+    uint16_t rpm;
+} esc_telemetry_t;
+
+typedef enum {
+    ESC_TLM_FRAME_PENDING = 1 << 0,     // 1
+    ESC_TLM_FRAME_COMPLETE = 1 << 1     // 2
+} escTlmFrameState_t;
+
+typedef enum {
+    ESC_TLM_TRIGGER_WAIT = 0,
+    ESC_TLM_TRIGGER_READY = 1 << 0,     // 1
+    ESC_TLM_TRIGGER_PENDING = 1 << 1,   // 2
+} escTlmTriggerState_t;
+
+#define ESC_TLM_BAUDRATE 115200
+#define ESC_TLM_BUFFSIZE 10
+#define ESC_BOOTTIME 5000               // 5 seconds
+#define ESC_REQUEST_TIMEOUT 1000        // 1 seconds
+
+static bool tlmFrameDone = false;
+static bool firstCycleComplete = false;
+static uint8_t tlm[ESC_TLM_BUFFSIZE] = { 0, };
+static uint8_t tlmFramePosition = 0;
+static serialPort_t *escTelemetryPort = NULL;
+static esc_telemetry_t escTelemetryData[4];
+static uint32_t escTriggerTimestamp = -1;
+
+static uint8_t escTelemetryMotor = 0;      // motor index 0 - 3
+static bool escTelemetryEnabled = false;
+static escTlmTriggerState_t escTelemetryTriggerState = ESC_TLM_TRIGGER_WAIT;
+
+static uint16_t escVbat = 0;
+static uint16_t escCurrent = 0;
+static uint16_t escConsumption = 0;
+
+static void escTelemetryDataReceive(uint16_t c);
+static uint8_t update_crc8(uint8_t crc, uint8_t crc_seed);
+static uint8_t get_crc8(uint8_t *Buf, uint8_t BufLen);
+static void selectNextMotor(void);
+
+bool isEscTelemetryActive(void)
+{
+    return escTelemetryEnabled;
+}
+
+uint16_t getEscTelemetryVbat(void)
+{
+    return escVbat / 10;
+}
+
+uint16_t getEscTelemetryCurrent(void)
+{
+    return escCurrent;
+}
+
+uint16_t getEscTelemetryConsumption(void)
+{
+    return escConsumption;
+}
+
+bool escTelemetryInit(void)
+{
+    serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_TELEMETRY_ESC);
+    if (!portConfig) {
+        return false;
+    }
+
+    portOptions_t options = (SERIAL_NOT_INVERTED);
+
+    // Initialize serial port
+    escTelemetryPort = openSerialPort(portConfig->identifier, FUNCTION_TELEMETRY_ESC, escTelemetryDataReceive, ESC_TLM_BAUDRATE, MODE_RX, options);
+
+    if (escTelemetryPort) {
+        escTelemetryEnabled = true;
+        masterConfig.batteryConfig.currentMeterType = CURRENT_SENSOR_ESC;
+        masterConfig.batteryConfig.batteryMeterType = BATTERY_SENSOR_ESC;
+    }
+
+    return escTelemetryPort != NULL;
+}
+
+void freeEscTelemetryPort(void)
+{
+    closeSerialPort(escTelemetryPort);
+    escTelemetryPort = NULL;
+    escTelemetryEnabled = false;
+}
+
+// Receive ISR callback
+static void escTelemetryDataReceive(uint16_t c)
+{
+    // KISS ESC sends some data during startup, ignore this for now (maybe future use)
+    // startup data could be firmware version and serialnumber
+
+    if (escTelemetryTriggerState == ESC_TLM_TRIGGER_WAIT) return;
+
+    tlm[tlmFramePosition] = (uint8_t)c;
+
+    if (tlmFramePosition == ESC_TLM_BUFFSIZE - 1) {
+        tlmFrameDone = true;
+        tlmFramePosition = 0;
+    } else {
+        tlmFramePosition++;
+    }
+}
+
+uint8_t escTelemetryFrameStatus(void)
+{
+    uint8_t frameStatus = ESC_TLM_FRAME_PENDING;
+    uint16_t chksum, tlmsum;
+
+    if (!tlmFrameDone) {
+        return frameStatus;
+    }
+
+    tlmFrameDone = false;
+
+    // Get CRC8 checksum
+    chksum = get_crc8(tlm, ESC_TLM_BUFFSIZE - 1);
+    tlmsum = tlm[ESC_TLM_BUFFSIZE - 1];     // last byte contains CRC value
+
+    if (chksum == tlmsum) {
+        escTelemetryData[escTelemetryMotor].skipped = false;
+        escTelemetryData[escTelemetryMotor].temperature = tlm[0];
+        escTelemetryData[escTelemetryMotor].voltage = tlm[1] << 8 | tlm[2];
+        escTelemetryData[escTelemetryMotor].current = tlm[3] << 8 | tlm[4];
+        escTelemetryData[escTelemetryMotor].consumption = tlm[5] << 8 | tlm[6];
+        escTelemetryData[escTelemetryMotor].rpm = tlm[7] << 8 | tlm[8];
+
+        frameStatus = ESC_TLM_FRAME_COMPLETE;
+    }
+
+    return frameStatus;
+}
+
+void escTelemetryProcess(uint32_t currentTime)
+{
+    UNUSED(currentTime);
+
+    if (!escTelemetryEnabled) {
+        return;
+    }
+
+    // Wait period of time before requesting telemetry (let the system boot first)
+    if (millis() < ESC_BOOTTIME)
+    {
+        return;
+    }
+    else if (escTelemetryTriggerState == ESC_TLM_TRIGGER_WAIT)
+    {
+        // Ready for starting requesting telemetry
+        escTelemetryTriggerState = ESC_TLM_TRIGGER_READY;
+        escTelemetryMotor = 0;
+        escTriggerTimestamp = millis();
+    }
+    else if (escTelemetryTriggerState == ESC_TLM_TRIGGER_READY)
+    {
+        if (debugMode == DEBUG_ESC_TELEMETRY) debug[0] = escTelemetryMotor+1;
+
+        motorDmaOutput_t * const motor = getMotorDmaOutput(escTelemetryMotor);
+        motor->requestTelemetry = true;
+        escTelemetryTriggerState = ESC_TLM_TRIGGER_PENDING;
+    }
+
+    if (escTriggerTimestamp + ESC_REQUEST_TIMEOUT < millis())
+    {
+        // ESC did not repond in time, skip to next motor
+        escTelemetryData[escTelemetryMotor].skipped = true;
+        selectNextMotor();
+        escTelemetryTriggerState = ESC_TLM_TRIGGER_READY;
+
+        if (debugMode == DEBUG_ESC_TELEMETRY) debug[1]++;
+    }
+
+    // Get received frame status
+    uint8_t state = escTelemetryFrameStatus();
+
+    if (state == ESC_TLM_FRAME_COMPLETE)
+    {
+        // Wait until all ESCs are processed
+        if (firstCycleComplete)
+        {
+            uint8_t i;
+            escCurrent = 0;
+            escConsumption = 0;
+            for (i = 0; i < 4; i++)             // Motor count for Dshot limited to 4
+            {
+                if (!escTelemetryData[i].skipped)
+                {
+                    escVbat = escVbat == 0 ? escTelemetryData[i].voltage : (escVbat + escTelemetryData[i].voltage) / 2;
+                    escCurrent = escCurrent + escTelemetryData[i].current;
+                    escConsumption = escConsumption + escTelemetryData[i].consumption;
+                }
+            }
+        }
+
+        if (debugMode == DEBUG_ESC_TELEMETRY) debug[2] = escVbat;
+        if (debugMode == DEBUG_ESC_TELEMETRY) debug[3] = escCurrent;
+
+        selectNextMotor();
+        escTelemetryTriggerState = ESC_TLM_TRIGGER_READY;
+    }
+}
+
+static void selectNextMotor(void)
+{
+    escTelemetryMotor++;
+    if (escTelemetryMotor >= 4) {           // Motor count for Dshot limited to 4
+        escTelemetryMotor = 0;
+        firstCycleComplete = true;
+    }
+    escTriggerTimestamp = millis();
+}
+
+//-- CRC
+
+static uint8_t update_crc8(uint8_t crc, uint8_t crc_seed)
+{
+    uint8_t crc_u, i;
+
+    crc_u = crc;
+    crc_u ^= crc_seed;
+
+    for ( i=0; i<8; i++) crc_u = ( crc_u & 0x80 ) ? 0x7 ^ ( crc_u << 1 ) : ( crc_u << 1 );
+
+    return (crc_u);
+}
+
+static uint8_t get_crc8(uint8_t *Buf, uint8_t BufLen)
+{
+    uint8_t crc = 0, i;
+    for( i=0; i<BufLen; i++) crc = update_crc8(Buf[i], crc);
+    return (crc);
+}

src/main/telemetry/esc_telemetry.h

@@ -0,0 +1,10 @@
+#pragma once
+
+uint8_t escTelemetryFrameStatus(void);
+bool escTelemetryInit(void);
+bool isEscTelemetryActive(void);
+uint16_t getEscTelemetryVbat(void);
+uint16_t getEscTelemetryCurrent(void);
+uint16_t getEscTelemetryConsumption(void);
+
+void escTelemetryProcess(uint32_t currentTime);

src/main/telemetry/frsky.c

@@ -529,7 +529,7 @@ void handleFrSkyTelemetry(rxConfig_t *rxConfig, uint16_t deadband3d_throttle)
         sendTemperature1();
         sendThrottleOrBatterySizeAsRpm(rxConfig, deadband3d_throttle);
 
-        if (feature(FEATURE_VBAT) && batteryCellCount > 0) {
+        if ((feature(FEATURE_VBAT) || feature(FEATURE_ESC_TELEMETRY)) && batteryCellCount > 0) {
             sendVoltage();
             sendVoltageAmp();
             sendAmperage();

src/main/telemetry/smartport.c

@@ -646,7 +646,7 @@ void handleSmartPortTelemetry(void)
                 }
                 break;
             case FSSP_DATAID_CURRENT    :
-                if (feature(FEATURE_CURRENT_METER)) {
+                if (feature(FEATURE_CURRENT_METER) || feature(FEATURE_ESC_TELEMETRY)) {
                     smartPortSendPackage(id, amperage / 10); // given in 10mA steps, unknown requested unit
                     smartPortHasRequest = 0;
                 }
@@ -659,7 +659,7 @@ void handleSmartPortTelemetry(void)
                 }
                 break;
             case FSSP_DATAID_FUEL       :
-                if (feature(FEATURE_CURRENT_METER)) {
+                if (feature(FEATURE_CURRENT_METER) || feature(FEATURE_ESC_TELEMETRY)) {
                     smartPortSendPackage(id, mAhDrawn); // given in mAh, unknown requested unit
                     smartPortHasRequest = 0;
                 }