Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-19 22:35:23 +03:00
Code Issues Wiki Activity

Added display of (KISS) ESC version info for 'dshotprog <ESC index> 6'.

Browse source
This commit is contained in:
mikeller 2017-07-09 20:16:15 +12:00
parent 2b7e74c994
commit 1f25b44c03
3 changed files with 87 additions and 28 deletions
Download patch file Download diff file Expand all files Collapse all files

64
src/main/fc/cli.c
View file

@ -120,6 +120,7 @@ extern uint8_t __config_end;
#include "sensors/battery.h"
#include "sensors/boardalignment.h"
#include "sensors/compass.h"
#include "sensors/esc_sensor.h"
#include "sensors/gyro.h"
#include "sensors/sensors.h"
@ -877,12 +878,12 @@ static void cliSerialPassthrough(char *cmdline)
tok = strtok_r(NULL, " ", &saveptr);
}
tfp_printf("Port %d ", id);
cliPrintf("Port %d ", id);
serialPort_t *passThroughPort;
serialPortUsage_t *passThroughPortUsage = findSerialPortUsageByIdentifier(id);
if (!passThroughPortUsage || passThroughPortUsage->serialPort == NULL) {
if (!baud) {
tfp_printf("closed, specify baud.\r\n");
cliPrint("closed, specify baud.\r\n");
return;
}
if (!mode)
@ -892,17 +893,17 @@ static void cliSerialPassthrough(char *cmdline)
baud, mode,
SERIAL_NOT_INVERTED);
if (!passThroughPort) {
tfp_printf("could not be opened.\r\n");
cliPrint("could not be opened.\r\n");
return;
}
tfp_printf("opened, baud = %d.\r\n", baud);
cliPrintf("opened, baud = %d.\r\n", baud);
} else {
passThroughPort = passThroughPortUsage->serialPort;
// If the user supplied a mode, override the port's mode, otherwise
// leave the mode unchanged. serialPassthrough() handles one-way ports.
tfp_printf("already open.\r\n");
cliPrint("already open.\r\n");
if (mode && passThroughPort->mode != mode) {
tfp_printf("mode changed from %d to %d.\r\n",
cliPrintf("mode changed from %d to %d.\r\n",
passThroughPort->mode, mode);
serialSetMode(passThroughPort, mode);
}
@ -913,7 +914,7 @@ static void cliSerialPassthrough(char *cmdline)
}
}
tfp_printf("forwarding, power cycle to exit.\r\n");
cliPrint("Forwarding, power cycle to exit.\r\n");
serialPassthrough(cliPort, passThroughPort, NULL, NULL);
}
@ -2202,6 +2203,21 @@ static int parseOutputIndex(char *pch, bool allowAllEscs) {
}
#ifdef USE_DSHOT
#define ESC_INFO_EXPECTED_FRAME_SIZE 15
void printEscInfo(const uint8_t *escInfoBytes)
{
cliPrint("MCU Id: 0x");
for (int i = 0; i < 12; i++) {
cliPrintf("%02x", escInfoBytes[i]);
}
cliPrintLinef("\nFirmware version: %d.%02d%c", escInfoBytes[12] / 100, escInfoBytes[12] % 100, (const char)((escInfoBytes[13] & 0x1f) + 97));
uint8_t escType = (escInfoBytes[13] & 0xe0) >> 5;
cliPrintLinef("ESC type: %d", escType);
}
static void cliDshotProg(char *cmdline)
{
if (isEmpty(cmdline) || motorConfig()->dev.motorPwmProtocol < PWM_TYPE_DSHOT150) {
@ -2232,17 +2248,45 @@ static void cliDshotProg(char *cmdline)
for (unsigned i = 0; i < getMotorCount(); i++) {
pwmWriteDshotCommand(i, command);
}
cliPrintf("Command %d written.\r\n", command);
} else {
uint8_t escInfoBuffer[ESC_INFO_EXPECTED_FRAME_SIZE];
if (command == DSHOT_CMD_ESC_INFO) {
delay(10); // Wait for potential ESC telemetry transmission to finish
startEscDataRead(ESC_INFO_EXPECTED_FRAME_SIZE, escInfoBuffer);
}
pwmWriteDshotCommand(escIndex, command);
if (command == DSHOT_CMD_ESC_INFO) {
bool escInfoReceived = false;
for (int i = 0; i < 10; i++) {
delay(20);
if (checkEscDataReadFinished()) {
escInfoReceived = true;
break;
}
}
if (escInfoReceived) {
printEscInfo(escInfoBuffer);
} else {
cliPrint("No ESC info received.");
}
} else {
cliPrintf("Command %d written.\r\n", command);
}
}
if (command <= 5) {
delay(10); // wait for sound output to finish
}
tfp_printf("Command %d written.\r\n", command);
} else {
tfp_printf("Invalid command, range 1 to %d.\r\n", DSHOT_MIN_THROTTLE - 1);
cliPrintf("Invalid command, range 1 to %d.\r\n", DSHOT_MIN_THROTTLE - 1);
}
break;