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Added checksum verification.

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This commit is contained in:
mikeller 2017-07-10 00:07:03 +12:00
parent 1f25b44c03
commit 613e5c3b2a
3 changed files with 117 additions and 50 deletions
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116
src/main/fc/cli.c
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@ -2204,18 +2204,95 @@ static int parseOutputIndex(char *pch, bool allowAllEscs) {
#ifdef USE_DSHOT
#define ESC_INFO_EXPECTED_FRAME_SIZE 15
#define ESC_INFO_V1_EXPECTED_FRAME_SIZE 15
#define ESC_INFO_V2_EXPECTED_FRAME_SIZE 21
void printEscInfo(const uint8_t *escInfoBytes)
#define ESC_INFO_VERSION_POSITION 12
void printEscInfo(const uint8_t *escInfoBytes, uint8_t bytesRead)
{
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));
bool escInfoReceived = false;
if (bytesRead > ESC_INFO_VERSION_POSITION) {
uint8_t escInfoVersion = 0;
uint8_t frameLength = 0;
if (escInfoBytes[ESC_INFO_VERSION_POSITION] == 255) {
escInfoVersion = 2;
frameLength = ESC_INFO_V2_EXPECTED_FRAME_SIZE;
} else {
escInfoVersion = 1;
frameLength = ESC_INFO_V1_EXPECTED_FRAME_SIZE;
}
uint8_t escType = (escInfoBytes[13] & 0xe0) >> 5;
cliPrintLinef("ESC type: %d", escType);
if (((escInfoVersion == 1) && (bytesRead == ESC_INFO_V1_EXPECTED_FRAME_SIZE))
|| ((escInfoVersion == 2) && (bytesRead == ESC_INFO_V2_EXPECTED_FRAME_SIZE))) {
escInfoReceived = true;
if (calculateCrc8(escInfoBytes, frameLength - 1) == escInfoBytes[frameLength - 1]) {
uint8_t firmwareVersion;
char firmwareSubVersion;
uint8_t escType;
switch (escInfoVersion) {
case 1:
firmwareVersion = escInfoBytes[12];
firmwareSubVersion = (char)((escInfoBytes[13] & 0x1f) + 97);
escType = (escInfoBytes[13] & 0xe0) >> 5;
break;
case 2:
firmwareVersion = escInfoBytes[13];
firmwareSubVersion = (char)escInfoBytes[14];
escType = escInfoBytes[15];
break;
}
cliPrint("ESC: ");
switch (escType) {
case 1:
cliPrintLine("KISS8A");
break;
case 2:
cliPrintLine("KISS16A");
break;
case 3:
cliPrintLine("KISS24A");
break;
case 5:
cliPrintLine("KISS Ultralite");
break;
default:
cliPrintLine("unknown");
break;
}
cliPrint("MCU: 0x");
for (int i = 0; i < 12; i++) {
if (i && (i % 3 == 0)) {
cliPrint("-");
}
cliPrintf("%02x", escInfoBytes[i]);
}
cliPrintLinefeed();
cliPrintLinef("Firmware: %d.%02d%c", firmwareVersion / 100, firmwareVersion % 100, firmwareSubVersion);
if (escInfoVersion == 2) {
cliPrintLinef("Rotation: %s", escInfoBytes[16] ? "reversed" : "normal");
cliPrintLinef("3D: %s", escInfoBytes[17] ? "on" : "off");
}
} else {
cliPrint("Checksum error.");
}
}
}
if (!escInfoReceived) {
cliPrint("No info.");
}
}
static void cliDshotProg(char *cmdline)
@ -2251,32 +2328,19 @@ static void cliDshotProg(char *cmdline)
cliPrintf("Command %d written.\r\n", command);
} else {
uint8_t escInfoBuffer[ESC_INFO_EXPECTED_FRAME_SIZE];
uint8_t escInfoBuffer[ESC_INFO_V2_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);
startEscDataRead(escInfoBuffer, ESC_INFO_V2_EXPECTED_FRAME_SIZE);
}
pwmWriteDshotCommand(escIndex, command);
if (command == DSHOT_CMD_ESC_INFO) {
bool escInfoReceived = false;
for (int i = 0; i < 10; i++) {
delay(20);
delay(10);
if (checkEscDataReadFinished()) {
escInfoReceived = true;
break;
}
}
if (escInfoReceived) {
printEscInfo(escInfoBuffer);
} else {
cliPrint("No ESC info received.");
}
printEscInfo(escInfoBuffer, getNumberEscBytesRead());
} else {
cliPrintf("Command %d written.\r\n", command);
}