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Merge pull request #2393 from mikeller/added_dshot_esc_command_support

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Added support for DShot ESC settings to CLI.
This commit is contained in:
borisbstyle 2017-03-02 22:52:06 +01:00 • committed by GitHub
commit 16309b1a2c
7 changed files with 146 additions and 47 deletions
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158
src/main/fc/cli.c
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@ -3221,67 +3221,134 @@ static void cliGpsPassthrough(char *cmdline)
}
#endif
#ifdef USE_ESCSERIAL
static void cliEscPassthrough(char *cmdline)
{
uint8_t mode = 0;
int index = 0;
int i = 0;
char *pch = NULL;
char *saveptr;
#if defined(USE_ESCSERIAL) || defined(USE_DSHOT)
if (isEmpty(cmdline)) {
#ifndef ALL_ESCS
#define ALL_ESCS 255
#endif
static int parseEscNumber(char *pch, bool allowAllEscs) {
int escNumber = atoi(pch);
if ((escNumber >= 0) && (escNumber < getMotorCount())) {
printf("Programming on ESC %d.\r\n", escNumber);
} else if (allowAllEscs && escNumber == ALL_ESCS) {
printf("Programming on all ESCs.\r\n");
} else {
printf("Invalid ESC number, range: 0 to %d.\r\n", getMotorCount() - 1);
return -1;
}
return escNumber;
}
#endif
#ifdef USE_DSHOT
static void cliDshotProg(char *cmdline)
{
if (isEmpty(cmdline) || motorConfig()->dev.motorPwmProtocol < PWM_TYPE_DSHOT150) {
cliShowParseError();
return;
}
pch = strtok_r(cmdline, " ", &saveptr);
char *saveptr;
char *pch = strtok_r(cmdline, " ", &saveptr);
int pos = 0;
int escNumber = 0;
while (pch != NULL) {
switch (i) {
switch (pos) {
case 0:
if(strncasecmp(pch, "sk", strlen(pch)) == 0)
{
mode = 0;
escNumber = parseEscNumber(pch, true);
if (escNumber == -1) {
return;
}
else if(strncasecmp(pch, "bl", strlen(pch)) == 0)
{
mode = 1;
break;
default:
motorControlEnable = false;
int command = atoi(pch);
if (command >= 0 && command < DSHOT_MIN_THROTTLE) {
if (escNumber == ALL_ESCS) {
for (unsigned i = 0; i < getMotorCount(); i++) {
pwmWriteDshotCommand(i, command);
}
} else {
pwmWriteDshotCommand(escNumber, command);
}
if (command <= 5) {
delay(10); // wait for sound output to finish
}
printf("Command %d written.\r\n", command);
} else {
printf("Invalid command, range 1 to %d.\r\n", DSHOT_MIN_THROTTLE - 1);
}
else if(strncasecmp(pch, "ki", strlen(pch)) == 0)
{
mode = 2;
}
else if(strncasecmp(pch, "cc", strlen(pch)) == 0)
{
mode = 4;
}
else
{
break;
}
pos++;
pch = strtok_r(NULL, " ", &saveptr);
}
motorControlEnable = true;
}
#endif
#ifdef USE_ESCSERIAL
static void cliEscPassthrough(char *cmdline)
{
if (isEmpty(cmdline)) {
cliShowParseError();
return;
}
char *saveptr;
char *pch = strtok_r(cmdline, " ", &saveptr);
int pos = 0;
uint8_t mode = 0;
int escNumber = 0;
while (pch != NULL) {
switch (pos) {
case 0:
if(strncasecmp(pch, "sk", strlen(pch)) == 0) {
mode = PROTOCOL_SIMONK;
} else if(strncasecmp(pch, "bl", strlen(pch)) == 0) {
mode = PROTOCOL_BLHELI;
} else if(strncasecmp(pch, "ki", strlen(pch)) == 0) {
mode = PROTOCOL_KISS;
} else if(strncasecmp(pch, "cc", strlen(pch)) == 0) {
mode = PROTOCOL_KISSALL;
} else {
cliShowParseError();
return;
}
break;
case 1:
index = atoi(pch);
if(mode == 2 && index == 255)
{
printf("passthrough on all outputs enabled\r\n");
}
else{
if ((index >= 0) && (index < USABLE_TIMER_CHANNEL_COUNT)) {
printf("passthrough on output %d enabled\r\n", index);
}
else {
printf("invalid output, range: 1 to %d\r\n", USABLE_TIMER_CHANNEL_COUNT);
return;
}
escNumber = parseEscNumber(pch, mode == PROTOCOL_KISS);
if (escNumber == -1) {
return;
}
break;
default:
cliShowParseError();
return;
break;
}
i++;
pos++;
pch = strtok_r(NULL, " ", &saveptr);
}
escEnablePassthrough(cliPort,index,mode);
escEnablePassthrough(cliPort, escNumber, mode);
}
#endif
@ -3356,13 +3423,13 @@ static void cliMotor(char *cmdline)
if (index == 2) {
if (motor_value < PWM_RANGE_MIN || motor_value > PWM_RANGE_MAX) {
cliShowArgumentRangeError("value", 1000, 2000);
return;
} else {
motor_disarmed[motor_index] = convertExternalToMotor(motor_value);
cliPrintf("motor %d: %d\r\n", motor_index, convertMotorToExternal(motor_disarmed[motor_index]));
}
}
cliPrintf("motor %d: %d\r\n", motor_index, convertMotorToExternal(motor_disarmed[motor_index]));
}
#ifndef MINIMAL_CLI
@ -4216,6 +4283,9 @@ const clicmd_t cmdTable[] = {
CLI_COMMAND_DEF("bl", "reboot into bootloader", NULL, cliBootloader),
CLI_COMMAND_DEF("diff", "list configuration changes from default",
"[master|profile|rates|all] {showdefaults}", cliDiff),
#ifdef USE_DSHOT
CLI_COMMAND_DEF("dshotprog", "program DShot ESC(s)", "<index> <command>+", cliDshotProg),
#endif
CLI_COMMAND_DEF("dump", "dump configuration",
"[master|profile|rates|all] {showdefaults}", cliDump),
#ifdef USE_ESCSERIAL