Copter: significant issues with BLHeli on 4.0

[andyp1per]

I am seeing a number of issues with BLHeli support in 4.0

Bug report

• If I enable BLHeli Passthrough and connect with BLHeli, after I disconnect I start seeing the error " internal error (0x8000)"
  • If I enable ESC testing I get (UPDATE: caused by auto telemetry)

    
    APM: ESC: Running test on channel 0
    APM: ESC: BL_ConnectEx 0/4 at 0
    APM: Initialising APM
    APM: ESC: BL_ReadBuf 8 -> 9
    APM: ESC: Interface type imARM_BLB
    APM: ESC: BL_SendCMDSetAddress 0x7C00
    APM: ESC: BL_ReadBuf 256 -> 259
    APM: ESC: BL_SendCMDSetAddress 0xEB00
    APM: ESC: BL_ReadBuf 16 -> 19
    APM: ESC: Prot 5 Good 151338 Bad 0 0 0 0 x0

APM: ESC: Test PASSED Critical failure

 - If I enable ESC telemetry I lose logging (*UPDATE: caused by DMA on the RX pin*)

If I had to guess I would say the BLHeli support is pegging the CPU somehow

**Version**
4.0
BLHeli version 32.7 with auto telemetry enabled (I'll try switching this off next)

**Platform**
[  ] All
[  ] AntennaTracker
[X ] Copter
[  ] Plane
[  ] Rover
[  ] Submarine

**Airframe type**
Quad 3"

**Hardware type**
KakuteF7 Mini

**Logs**

[andyp1per]

If I turn off auto telemetry in BLHeli I no longer get the "Critical failure" when testing but I do still get "Internal errors (0x8000)" I still get no throttle logging with ESC telemetry enabled

[andyp1per]

Part of this seems to be related to DMA on the telemetry pin. If I disable this then things are better, rpm output is still a little suspicious however:

EDIT: I am testing without props and if I graph RCx_OUT then they match well with the rpm values. SO I think this part is working.

and the Internal errors is still there on test / passthrough

[vierfuffzig]

i could reproduce this, doing a BLH_TEST on copter firmware reliably triggers internal error 0x8000. it does this too without setting up or connecting ESC telemetry at all. on a sidenote, BLH_DEBUG prompts also do not work on copter. there's no comparable issues on plane firmware.

[andyp1per]

I played around with blheli yesterday with this in and all looked good, so I think this has essentially fixed the problems I was seeing.