Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-15 04:15:44 +03:00
Code Issues Wiki Activity

add FETtec ESC passthrough to the existing serial passthrough cli function

Browse source
This commit is contained in:
felix 2019-06-28 10:10:12 +02:00
parent 3695b123d9
commit 85f00d4454
1 changed files with 33 additions and 2 deletions
Download patch file Download diff file Expand all files Collapse all files

33
src/main/cli/cli.c
View file

@ -1264,10 +1264,11 @@ static void cliSerialPassthrough(char *cmdline)
return; return;
} }
serialPassthroughPort_t ports[2] = { {SERIAL_PORT_NONE, 0, 0, NULL}, { SERIAL_PORT_USB_VCP, 0, 0, cliPort} }; serialPassthroughPort_t ports[2] = { {SERIAL_PORT_NONE, 0, 0, NULL}, {cliPort->identifier, 0, 0, cliPort} };
bool enableBaudCb = false; bool enableBaudCb = false;
int port1PinioDtr = 0; int port1PinioDtr = 0;
bool port1ResetOnDtr = false; bool port1ResetOnDtr = false;
bool escSensorPassthrough = false;
char *saveptr; char *saveptr;
char* tok = strtok_r(cmdline, " ", &saveptr); char* tok = strtok_r(cmdline, " ", &saveptr);
int index = 0; int index = 0;
@ -1275,7 +1276,13 @@ static void cliSerialPassthrough(char *cmdline)
while (tok != NULL) { while (tok != NULL) {
switch (index) { switch (index) {
case 0: case 0:
if (strcasestr(tok, "esc_sensor")) {
escSensorPassthrough = true;
const serialPortConfig_t *portConfig = findSerialPortConfig(FUNCTION_ESC_SENSOR);
ports[0].id = portConfig->identifier;
} else {
ports[0].id = atoi(tok); ports[0].id = atoi(tok);
}
break; break;
case 1: case 1:
ports[0].baud = atoi(tok); ports[0].baud = atoi(tok);
@ -1415,6 +1422,30 @@ static void cliSerialPassthrough(char *cmdline)
serialSetCtrlLineStateCb(ports[0].port, cbCtrlLine, (void *)(intptr_t)(port1PinioDtr)); serialSetCtrlLineStateCb(ports[0].port, cbCtrlLine, (void *)(intptr_t)(port1PinioDtr));
} }
#ifdef USE_PWM_OUTPUT
if (escSensorPassthrough) {
pwmDisableMotors();
delay(5);
unsigned motorsCount = getMotorCount();
for (unsigned i = 0; i < motorsCount; i++) {
const ioTag_t tag = motorConfig()->dev.ioTags[i];
if (tag) {
const timerHardware_t *timerHardware = timerGetByTag(tag);
if (timerHardware) {
IO_t io = IOGetByTag(tag);
IOInit(io, OWNER_MOTOR, 0);
IOConfigGPIO(io, IOCFG_OUT_PP);
if (timerHardware->output & TIMER_OUTPUT_INVERTED) {
IOLo(io);
} else {
IOHi(io);
}
}
}
}
}
#endif
serialPassthrough(ports[0].port, ports[1].port, NULL, NULL); serialPassthrough(ports[0].port, ports[1].port, NULL, NULL);
} }
#endif #endif