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serial 1wire passthrough for ESCs with the BlHeli bootloader

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nathan 2015-07-22 01:18:13 -07:00 • committed by borisbstyle
parent 37d9cba4c9
commit 5e16460c98
11 changed files with 465 additions and 0 deletions
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32
src/main/io/serial_cli.c
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@ -51,6 +51,7 @@
#include "io/gimbal.h"
#include "io/rc_controls.h"
#include "io/serial.h"
#include "io/serial_1wire.h"
#include "io/ledstrip.h"
#include "io/flashfs.h"
#include "io/beeper.h"
@ -144,6 +145,10 @@ static void cliFlashRead(char *cmdline);
#endif
#endif
#ifdef USE_SERIAL_1WIRE
static void cliUSB1Wire(char *cmdline);
#endif
// buffer
static char cliBuffer[48];
static uint32_t bufferIndex = 0;
@ -216,6 +221,9 @@ typedef struct {
// should be sorted a..z for bsearch()
const clicmd_t cmdTable[] = {
#ifdef USE_SERIAL_1WIRE
CLI_COMMAND_DEF("1wire", "1-wire interface to escs", "<esc index>", cliUSB1Wire),
#endif
CLI_COMMAND_DEF("adjrange", "configure adjustment ranges", NULL, cliAdjustmentRange),
CLI_COMMAND_DEF("aux", "configure modes", NULL, cliAux),
#ifdef LED_STRIP
@ -2110,6 +2118,30 @@ static void cliStatus(char *cmdline)
printf("Cycle Time: %d, I2C Errors: %d, config size: %d\r\n", cycleTime, i2cErrorCounter, sizeof(master_t));
}
#ifdef USE_SERIAL_1WIRE
static void cliUSB1Wire(char *cmdline)
{
int i;
if (isEmpty(cmdline)) {
cliPrint("Please specify a ouput channel. e.g. `1wire 2` to connect to motor 2\r\n");
return;
} else {
i = atoi(cmdline);
if (i >= 0 && i <= ESC_COUNT) {
printf("Switching to BlHeli mode on motor port %d\r\n", i);
}
else {
printf("Invalid motor port, valid range: 1 to %d\r\n", ESC_COUNT);
}
}
UNUSED(cmdline);
StopPwmAllMotors();
// motor 1 => index 0
usb1WirePassthrough(i-1);
}
#endif
static void cliVersion(char *cmdline)
{
UNUSED(cmdline);