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Implementation of KISS ESC Telemetry protocol

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This commit is contained in:
Bas Delfos 2016-11-10 21:08:59 +01:00
parent 14370426af
commit 16178a0662
20 changed files with 428 additions and 31 deletions
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13
src/main/io/serial_cli.c
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@ -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