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

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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
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48
src/main/sensors/esc_sensor.c
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@ -97,12 +97,14 @@ typedef enum {
} escSensorTriggerState_t;
#define ESC_SENSOR_BAUDRATE 115200
#define ESC_SENSOR_BUFFSIZE 10
#define ESC_BOOTTIME 5000 // 5 seconds
#define ESC_REQUEST_TIMEOUT 100 // 100 ms (data transfer takes only 900us)
static volatile bool tlmFramePending = false;
static uint8_t tlm[ESC_SENSOR_BUFFSIZE] = { 0, };
#define TELEMETRY_FRAME_SIZE 10
static uint8_t telemetryBuffer[TELEMETRY_FRAME_SIZE] = { 0, };
static volatile uint8_t *buffer;
static volatile uint8_t tlmExpectedFrameSize = 0;
static uint8_t tlmFramePosition = 0;
static serialPort_t *escSensorPort = NULL;
@ -119,6 +121,17 @@ static bool combinedDataNeedsUpdate = true;
static uint16_t totalTimeoutCount = 0;
static uint16_t totalCrcErrorCount = 0;
void startEscDataRead(uint8_t frameLength, uint8_t *frameBuffer)
{
buffer = frameBuffer;
tlmExpectedFrameSize = frameLength;
}
bool checkEscDataReadFinished(void)
{
return tlmExpectedFrameSize == 0;
}
bool isEscSensorActive(void)
{
return escSensorPort != NULL;
@ -166,18 +179,16 @@ static void escSensorDataReceive(uint16_t c)
// KISS ESC sends some data during startup, ignore this for now (maybe future use)
// startup data could be firmware version and serialnumber
if (!tlmFramePending) {
if (!tlmExpectedFrameSize) {
return;
}
tlm[tlmFramePosition] = (uint8_t)c;
buffer[tlmFramePosition++] = (uint8_t)c;
if (tlmFramePosition == ESC_SENSOR_BUFFSIZE - 1) {
if (tlmFramePosition == tlmExpectedFrameSize) {
tlmFramePosition = 0;
tlmFramePending = false;
} else {
tlmFramePosition++;
tlmExpectedFrameSize = 0;
}
}
@ -221,21 +232,21 @@ static uint8_t get_crc8(uint8_t *Buf, uint8_t BufLen)
static uint8_t decodeEscFrame(void)
{
if (tlmFramePending) {
if (tlmExpectedFrameSize) {
return ESC_SENSOR_FRAME_PENDING;
}
// Get CRC8 checksum
uint16_t chksum = get_crc8(tlm, ESC_SENSOR_BUFFSIZE - 1);
uint16_t tlmsum = tlm[ESC_SENSOR_BUFFSIZE - 1]; // last byte contains CRC value
uint16_t chksum = get_crc8(telemetryBuffer, TELEMETRY_FRAME_SIZE - 1);
uint16_t tlmsum = telemetryBuffer[TELEMETRY_FRAME_SIZE - 1]; // last byte contains CRC value
uint8_t frameStatus;
if (chksum == tlmsum) {
escSensorData[escSensorMotor].dataAge = 0;
escSensorData[escSensorMotor].temperature = tlm[0];
escSensorData[escSensorMotor].voltage = tlm[1] << 8 | tlm[2];
escSensorData[escSensorMotor].current = tlm[3] << 8 | tlm[4];
escSensorData[escSensorMotor].consumption = tlm[5] << 8 | tlm[6];
escSensorData[escSensorMotor].rpm = tlm[7] << 8 | tlm[8];
escSensorData[escSensorMotor].temperature = telemetryBuffer[0];
escSensorData[escSensorMotor].voltage = telemetryBuffer[1] << 8 | telemetryBuffer[2];
escSensorData[escSensorMotor].current = telemetryBuffer[3] << 8 | telemetryBuffer[4];
escSensorData[escSensorMotor].consumption = telemetryBuffer[5] << 8 | telemetryBuffer[6];
escSensorData[escSensorMotor].rpm = telemetryBuffer[7] << 8 | telemetryBuffer[8];
combinedDataNeedsUpdate = true;
@ -286,7 +297,8 @@ void escSensorProcess(timeUs_t currentTimeUs)
case ESC_SENSOR_TRIGGER_READY:
escTriggerTimestamp = currentTimeMs;
tlmFramePending = true;
buffer = telemetryBuffer;
tlmExpectedFrameSize = TELEMETRY_FRAME_SIZE;
motorDmaOutput_t * const motor = getMotorDmaOutput(escSensorMotor);
motor->requestTelemetry = true;
escSensorTriggerState = ESC_SENSOR_TRIGGER_PENDING;