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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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24
src/main/drivers/pwm_output.c
View file

@ -21,6 +21,7 @@
#include <math.h>
#include "platform.h"
#include "system.h"
#include "io.h"
#include "pwm_output.h"
@ -29,6 +30,8 @@
#define MULTISHOT_5US_PW (MULTISHOT_TIMER_MHZ * 5)
#define MULTISHOT_20US_MULT (MULTISHOT_TIMER_MHZ * 20 / 1000.0f)
#define DSHOT_MAX_COMMAND 47
static pwmWriteFuncPtr pwmWritePtr;
static pwmOutputPort_t motors[MAX_SUPPORTED_MOTORS];
static pwmCompleteWriteFuncPtr pwmCompleteWritePtr = NULL;
@ -315,6 +318,27 @@ uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType)
return MOTOR_DSHOT150_MHZ * 1000000;
}
}
void pwmWriteDshotCommand(uint8_t index, uint8_t command)
{
if (command <= DSHOT_MAX_COMMAND) {
motorDmaOutput_t *const motor = getMotorDmaOutput(index);
unsigned repeats;
if ((command >= 7 && command <= 10) || command == 12) {
repeats = 10;
} else {
repeats = 1;
}
for (; repeats; repeats--) {
motor->requestTelemetry = true;
pwmWritePtr(index, command);
pwmCompleteMotorUpdate(0);
delay(1);
}
}
}
#endif
#ifdef USE_SERVOS

1
src/main/drivers/pwm_output.h
View file

@ -139,6 +139,7 @@ void pwmServoConfig(const struct timerHardware_s *timerHardware, uint8_t servoIn
#ifdef USE_DSHOT
uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType);
void pwmWriteDshotCommand(uint8_t index, uint8_t command);
void pwmWriteDigital(uint8_t index, uint16_t value);
void pwmDigitalMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output);
void pwmCompleteDigitalMotorUpdate(uint8_t motorCount);

2
src/main/drivers/serial_escserial.h
View file

@ -33,6 +33,8 @@ typedef enum {
PROTOCOL_COUNT
} escProtocol_e;
#define ALL_ESCS 255
serialPort_t *openEscSerial(escSerialPortIndex_e portIndex, serialReceiveCallbackPtr callback, uint16_t output, uint32_t baud, portOptions_t options, uint8_t mode);
// serialPort API

158
src/main/fc/cli.c
View file

@ -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

2
src/main/fc/fc_core.h
View file

@ -24,6 +24,8 @@ extern int16_t magHold;
extern bool isRXDataNew;
extern int16_t headFreeModeHold;
extern uint8_t motorControlEnable;
typedef struct throttleCorrectionConfig_s {
uint16_t throttle_correction_angle; // the angle when the throttle correction is maximal. in 0.1 degres, ex 225 = 22.5 ,30.0, 450 = 45.0 deg
uint8_t throttle_correction_value; // the correction that will be applied at throttle_correction_angle.

2
src/main/fc/fc_msp.c
View file

@ -230,7 +230,7 @@ static void mspFc4waySerialCommand(sbuf_t *dst, sbuf_t *src, mspPostProcessFnPtr
case PROTOCOL_KISS:
case PROTOCOL_KISSALL:
case PROTOCOL_CASTLE:
if (escPortIndex < USABLE_TIMER_CHANNEL_COUNT || (escMode == PROTOCOL_KISS && escPortIndex == 255)) {
if (escPortIndex < getMotorCount() || (escMode == PROTOCOL_KISS && escPortIndex == ALL_ESCS)) {
sbufWriteU8(dst, 1);
if (mspPostProcessFn) {

4
src/main/flight/mixer.h
View file

@ -39,8 +39,8 @@
3D Mode:
0 = stop
48 (low) - 1047 (high) -> positive direction
1048 (low) - 2047 (high) -> negative direction
48 (low) - 1047 (high) -> negative direction
1048 (low) - 2047 (high) -> positive direction
*/
// Digital protocol has fixed values