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Merge pull request #7264 from joelucid/dshot_telemetry

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Dshot telemetry
This commit is contained in:
Michael Keller 2019-01-08 01:04:22 +13:00 • committed by GitHub
commit 00e0248988
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14 changed files with 498 additions and 79 deletions
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30
src/main/interface/cli.c
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@ -239,6 +239,14 @@ static const char * const *sensorHardwareNames[] = {
};
#endif // USE_SENSOR_NAMES
#if defined(USE_DSHOT) && defined(USE_DSHOT_TELEMETRY)
extern uint32_t readDoneCount;
extern uint32_t inputBuffer[DSHOT_TELEMETRY_INPUT_LEN];
extern uint32_t setDirectionMicros;
#endif
static void backupPgConfig(const pgRegistry_t *pg)
{
memcpy(pg->copy, pg->address, pg->size);
@ -3712,6 +3720,28 @@ static void cliStatus(char *cmdline)
cliPrintf(" %s", armingDisableFlagNames[bitpos]);
}
cliPrintLinefeed();
#if defined(USE_DSHOT) && defined(USE_DSHOT_TELEMETRY)
if (useDshotTelemetry) {
cliPrintLinef("Dshot reads: %u", readDoneCount);
cliPrintLinef("Dshot invalid pkts: %u", dshotInvalidPacketCount);
extern uint32_t setDirectionMicros;
cliPrintLinef("Dshot irq micros: %u", setDirectionMicros);
for (int i = 0; i<getMotorCount(); i++) {
cliPrintLinef( "Dshot RPM Motor %u: %u", i, (int)getDshotTelemetry(i));
}
bool proshot = (motorConfig()->dev.motorPwmProtocol == PWM_TYPE_PROSHOT1000);
int modulo = proshot ? MOTOR_NIBBLE_LENGTH_PROSHOT : MOTOR_BITLENGTH;
int len = proshot ? 8 : DSHOT_TELEMETRY_INPUT_LEN;
for (int i=0; i<len; i++) {
cliPrintf("%u ", (int)inputBuffer[i]);
}
cliPrintLinefeed();
for (int i=1; i<len; i+=2) {
cliPrintf("%u ", (int)(inputBuffer[i] + modulo - inputBuffer[i-1]) % modulo);
}
cliPrintLinefeed();
}
#endif
}
#if defined(USE_TASK_STATISTICS)