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Added ESC info display for 'dshotprog 255 6' invocation (all ESCs).

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This commit is contained in:
Michael Keller 2017-07-14 00:07:44 +08:00
parent b3898fa9d1
commit 779d3ceb0a
1 changed files with 31 additions and 26 deletions
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57
src/main/fc/cli.c
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@ -883,7 +883,7 @@ static void cliSerialPassthrough(char *cmdline)
serialPortUsage_t *passThroughPortUsage = findSerialPortUsageByIdentifier(id); serialPortUsage_t *passThroughPortUsage = findSerialPortUsageByIdentifier(id);
if (!passThroughPortUsage || passThroughPortUsage->serialPort == NULL) { if (!passThroughPortUsage || passThroughPortUsage->serialPort == NULL) {
if (!baud) { if (!baud) {
cliPrint("closed, specify baud.\r\n"); cliPrintLine("closed, specify baud.");
return; return;
} }
if (!mode) if (!mode)
@ -893,7 +893,7 @@ static void cliSerialPassthrough(char *cmdline)
baud, mode, baud, mode,
SERIAL_NOT_INVERTED); SERIAL_NOT_INVERTED);
if (!passThroughPort) { if (!passThroughPort) {
cliPrint("could not be opened.\r\n"); cliPrintLine("could not be opened.");
return; return;
} }
cliPrintf("opened, baud = %d.\r\n", baud); cliPrintf("opened, baud = %d.\r\n", baud);
@ -901,7 +901,7 @@ static void cliSerialPassthrough(char *cmdline)
passThroughPort = passThroughPortUsage->serialPort; passThroughPort = passThroughPortUsage->serialPort;
// If the user supplied a mode, override the port's mode, otherwise // If the user supplied a mode, override the port's mode, otherwise
// leave the mode unchanged. serialPassthrough() handles one-way ports. // leave the mode unchanged. serialPassthrough() handles one-way ports.
cliPrint("already open.\r\n"); cliPrintLine("already open.");
if (mode && passThroughPort->mode != mode) { if (mode && passThroughPort->mode != mode) {
cliPrintf("mode changed from %d to %d.\r\n", cliPrintf("mode changed from %d to %d.\r\n",
passThroughPort->mode, mode); passThroughPort->mode, mode);
@ -914,7 +914,7 @@ static void cliSerialPassthrough(char *cmdline)
} }
} }
cliPrint("Forwarding, power cycle to exit.\r\n"); cliPrintLine("Forwarding, power cycle to exit.");
serialPassthrough(cliPort, passThroughPort, NULL, NULL); serialPassthrough(cliPort, passThroughPort, NULL, NULL);
} }
@ -2296,13 +2296,33 @@ void printEscInfo(const uint8_t *escInfoBytes, uint8_t bytesRead)
cliPrintLinef("3D: %s", escInfoBytes[17] ? "on" : "off"); cliPrintLinef("3D: %s", escInfoBytes[17] ? "on" : "off");
} }
} else { } else {
cliPrint("Checksum error."); cliPrintLine("Checksum error.");
} }
} }
} }
if (!escInfoReceived) { if (!escInfoReceived) {
cliPrint("No info."); cliPrintLine("No info.");
}
}
static void writeDshotCommand(uint8_t escIndex, uint8_t command)
{
uint8_t escInfoBuffer[ESC_INFO_V2_EXPECTED_FRAME_SIZE];
if (command == DSHOT_CMD_ESC_INFO) {
cliPrintLinef("Info for ESC %d:", escIndex);
delay(10); // Wait for potential ESC telemetry transmission to finish
startEscDataRead(escInfoBuffer, ESC_INFO_V2_EXPECTED_FRAME_SIZE);
}
pwmWriteDshotCommand(escIndex, command);
if (command == DSHOT_CMD_ESC_INFO) {
delay(10);
printEscInfo(escInfoBuffer, getNumberEscBytesRead());
} }
} }
@ -2334,34 +2354,19 @@ static void cliDshotProg(char *cmdline)
if (command >= 0 && command < DSHOT_MIN_THROTTLE) { if (command >= 0 && command < DSHOT_MIN_THROTTLE) {
if (escIndex == ALL_MOTORS) { if (escIndex == ALL_MOTORS) {
for (unsigned i = 0; i < getMotorCount(); i++) { for (unsigned i = 0; i < getMotorCount(); i++) {
pwmWriteDshotCommand(i, command); writeDshotCommand(i, command);
} }
cliPrintf("Command %d written.\r\n", command);
} else { } else {
uint8_t escInfoBuffer[ESC_INFO_V2_EXPECTED_FRAME_SIZE]; writeDshotCommand(escIndex, command);
if (command == DSHOT_CMD_ESC_INFO) { }
delay(10); // Wait for potential ESC telemetry transmission to finish
startEscDataRead(escInfoBuffer, ESC_INFO_V2_EXPECTED_FRAME_SIZE); cliPrintLinef("Command %d written.", command);
}
pwmWriteDshotCommand(escIndex, command);
if (command == DSHOT_CMD_ESC_INFO) {
delay(10);
printEscInfo(escInfoBuffer, getNumberEscBytesRead());
} else {
cliPrintf("Command %d written.\r\n", command);
}
}
if (command <= 5) { if (command <= 5) {
delay(10); // wait for sound output to finish delay(10); // wait for sound output to finish
} }
} else { } else {
cliPrintf("Invalid command, range 1 to %d.\r\n", DSHOT_MIN_THROTTLE - 1); cliPrintLinef("Invalid command, range 1 to %d.", DSHOT_MIN_THROTTLE - 1);
} }
break; break;