Modify rpm deck driver test to work properly on Brushless motors

The ESCs needs to be fed a signal constantly to not go to sleep,
however we can not start the test until ESCs are started (which we dont
know exactly when that is).

To get around this issue we will wait a time, while constantly feeding the
ESCs at 1KHz with a 0 PWM signal. After this time we start the test.

src/deck/drivers/src/rpm.c

@@ -34,6 +34,7 @@
 #include "debug.h"
 #include "log.h"
 #include "motors.h"
+#include "platform.h"
 
 //FreeRTOS includes
 #include "FreeRTOS.h"
@@ -53,10 +54,11 @@
 
 #define ER_NBR_PINS         4
 
-#define RPM_TEST_LOWER_LIMIT 9300
-#define MOTOR_TEST_PWM (UINT16_MAX/4)
-#define MOTOR_TEST_TIME_MILLIS 3000
-#define MOTOR_FEED_SIGNAL_INTVL 50
+#define RPM_TEST_LOWER_LIMIT 13000
+#define MOTOR_TEST_PWM (UINT16_MAX/2)
+#define MOTOR_TEST_TIME_MILLIS 2000
+#define MOTOR_FEED_SIGNAL_INTVL 1
+#define MOTOR_RPM_NBR_SAMPLES (MOTOR_TEST_TIME_MILLIS/MOTOR_FEED_SIGNAL_INTVL)
 
 typedef struct _etGpio
 {
@@ -93,8 +95,7 @@ static uint16_t m4rpm;
 
 static uint16_t getMotorRpm(uint16_t motorIdx)
 {
-  switch (motorIdx)
-  {
+  switch (motorIdx) {
   case MOTOR_M1:
     return m1rpm;
     break;
@@ -117,6 +118,13 @@ static uint16_t getMotorRpm(uint16_t motorIdx)
   }
 }
 
+static void setMotorsPwm(uint32_t pwm)
+{
+  for (int i = 0; i<NBR_OF_MOTORS; i++) {
+    motorsSetRatio(i, pwm);
+  }
+}
+
 static void rpmTestInit(DeckInfo *info)
 {
   int i;
@@ -195,23 +203,32 @@ static void rpmTestInit(DeckInfo *info)
 static bool rpmTestRun(void)
 {
   bool passed = true;
+  uint16_t testTime = MOTOR_TEST_TIME_MILLIS;
+  int32_t waitTime = MOTOR_TEST_TIME_MILLIS;
+  int32_t rpmSamples[] = {0,0,0,0};
+  setMotorsPwm(0);
+  while (waitTime) { //We need to wait until all ESCs are started. We need to feed a signal continuosly so they dont go to sleep
+    motorsBurstDshot();
+    vTaskDelay(MOTOR_FEED_SIGNAL_INTVL);
+    waitTime -= MOTOR_FEED_SIGNAL_INTVL;
+  }
 
-    uint16_t testTime = MOTOR_TEST_TIME_MILLIS;
-
-    while(testTime) {
-      for(uint16_t i =0; i< NBR_OF_MOTORS; i++)
-      {
-        motorsSetRatio(i, MOTOR_TEST_PWM);
-      }
-      vTaskDelay(M2T(MOTOR_FEED_SIGNAL_INTVL));
-      testTime -= MOTOR_FEED_SIGNAL_INTVL;
-    }
-    for(uint16_t i =0; i< NBR_OF_MOTORS; i++)
-    {
-      DEBUG_PRINT("Motor; %d RPM; %d\n", i, getMotorRpm(i));
-      passed &= (getMotorRpm(i) > RPM_TEST_LOWER_LIMIT);
-      motorsSetRatio(i, 0);
+  setMotorsPwm(MOTOR_TEST_PWM);
+  while(testTime) {
+    motorsBurstDshot();
+    vTaskDelay(MOTOR_FEED_SIGNAL_INTVL);
+    testTime -= MOTOR_FEED_SIGNAL_INTVL;
+    for (int i = 0; i<NBR_OF_MOTORS; i++) {
+      rpmSamples[i] += getMotorRpm(i);
     }
+  }
+
+  setMotorsPwm(0);
+  for (int i = 0; i<NBR_OF_MOTORS; i++) {
+    int rpmAvg = rpmSamples[i] / MOTOR_RPM_NBR_SAMPLES;
+    DEBUG_PRINT("Motor; %d RPM; %d\n", i, rpmAvg);
+    passed &= (rpmAvg > RPM_TEST_LOWER_LIMIT);
+  }
   return passed;
 }