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Fixes #13220: Fix kiss esc passthrough, Fix castle (escprog cc) command. (#13911)

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* Fix kiss esc passthrough, Fix castle (escprog cc) command.

* Update src/main/drivers/serial_escserial.c

Thank you.

Co-authored-by: Mark Haslinghuis <mark@numloq.nl>

---------

Co-authored-by: Alex Fedorov <fedor@anuta.org>
Co-authored-by: Mark Haslinghuis <mark@numloq.nl>
This commit is contained in:
Kiss Ultra 2024-09-21 02:32:46 +02:00 • committed by GitHub
parent e8f091a6f5
commit a6d70be96a
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GPG key ID: B5690EEEBB952194
2 changed files with 25 additions and 18 deletions
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2
src/main/cli/cli.c
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@ -3937,7 +3937,7 @@ static void cliEscPassthrough(const char *cmdName, char *cmdline)
} else if (strncasecmp(pch, "ki", strlen(pch)) == 0) { } else if (strncasecmp(pch, "ki", strlen(pch)) == 0) {
mode = PROTOCOL_KISS; mode = PROTOCOL_KISS;
} else if (strncasecmp(pch, "cc", strlen(pch)) == 0) { } else if (strncasecmp(pch, "cc", strlen(pch)) == 0) {
mode = PROTOCOL_KISSALL; mode = PROTOCOL_CASTLE;
} else { } else {
cliShowParseError(cmdName); cliShowParseError(cmdName);

41
src/main/drivers/serial_escserial.c
View file

@ -661,10 +661,13 @@ static serialPort_t *openEscSerial(const motorDevConfig_t *motorConfig, escSeria
{ {
escSerial_t *escSerial = &(escSerialPorts[portIndex]); escSerial_t *escSerial = &(escSerialPorts[portIndex]);
if (escSerialConfig()->ioTag == IO_TAG_NONE) {
return NULL;
}
if (mode != PROTOCOL_KISSALL) { if (mode != PROTOCOL_KISSALL) {
if (escSerialConfig()->ioTag == IO_TAG_NONE) {
return NULL;
}
const ioTag_t tag = motorConfig->ioTags[output]; const ioTag_t tag = motorConfig->ioTags[output];
const timerHardware_t *timerHardware = timerAllocate(tag, OWNER_MOTOR, 0); const timerHardware_t *timerHardware = timerAllocate(tag, OWNER_MOTOR, 0);
@ -684,22 +687,22 @@ static serialPort_t *openEscSerial(const motorDevConfig_t *motorConfig, escSeria
// Workaround to ensure that the timerHandle is configured before use, timer will be reconfigured to a different frequency below // Workaround to ensure that the timerHandle is configured before use, timer will be reconfigured to a different frequency below
// this prevents a null-pointer dereference in __HAL_TIM_CLEAR_FLAG called by timerChClearCCFlag and similar accesses of timerHandle without the Instance being configured first. // this prevents a null-pointer dereference in __HAL_TIM_CLEAR_FLAG called by timerChClearCCFlag and similar accesses of timerHandle without the Instance being configured first.
timerConfigure(escSerial->rxTimerHardware, 0xffff, 1); timerConfigure(escSerial->rxTimerHardware, 0xffff, 1);
escSerial->txTimerHardware = timerAllocate(escSerialConfig()->ioTag, OWNER_MOTOR, 0);
if (escSerial->txTimerHardware == NULL) {
return NULL;
}
#ifdef USE_HAL_DRIVER
escSerial->txTimerHandle = timerFindTimerHandle(escSerial->txTimerHardware->tim);
#endif
// Workaround to ensure that the timerHandle is configured before use, timer will be reconfigured to a different frequency below
// this prevents a null-pointer dereference in __HAL_TIM_CLEAR_FLAG called by timerChClearCCFlag and similar accesses of timerHandle without the Instance being configured first.
timerConfigure(escSerial->txTimerHardware, 0xffff, 1);
} }
escSerial->mode = mode; escSerial->mode = mode;
escSerial->txTimerHardware = timerAllocate(escSerialConfig()->ioTag, OWNER_MOTOR, 0);
if (escSerial->txTimerHardware == NULL) {
return NULL;
}
#ifdef USE_HAL_DRIVER
escSerial->txTimerHandle = timerFindTimerHandle(escSerial->txTimerHardware->tim);
#endif
// Workaround to ensure that the timerHandle is configured before use, timer will be reconfigured to a different frequency below
// this prevents a null-pointer dereference in __HAL_TIM_CLEAR_FLAG called by timerChClearCCFlag and similar accesses of timerHandle without the Instance being configured first.
timerConfigure(escSerial->txTimerHardware, 0xffff, 1);
escSerial->port.vTable = escSerialVTable; escSerial->port.vTable = escSerialVTable;
escSerial->port.baudRate = baud; escSerial->port.baudRate = baud;
escSerial->port.mode = MODE_RXTX; escSerial->port.mode = MODE_RXTX;
@ -752,11 +755,15 @@ static serialPort_t *openEscSerial(const motorDevConfig_t *motorConfig, escSeria
if (tag != IO_TAG_NONE) { if (tag != IO_TAG_NONE) {
const timerHardware_t *timerHardware = timerAllocate(tag, OWNER_MOTOR, 0); const timerHardware_t *timerHardware = timerAllocate(tag, OWNER_MOTOR, 0);
if (timerHardware) { if (timerHardware) {
// Workaround to ensure that the timerHandle is configured before use, timer will be reconfigured to a different frequency below
// this prevents a null-pointer dereference in __HAL_TIM_CLEAR_FLAG called by timerChClearCCFlag and similar accesses of timerHandle without the Instance being configured first.
timerConfigure(timerHardware, 0xffff, 1);
escSerialOutputPortConfig(timerHardware); escSerialOutputPortConfig(timerHardware);
escOutputs[escSerial->outputCount].io = pwmMotors[i].io; escOutputs[escSerial->outputCount].io = pwmMotors[i].io;
if (timerHardware->output & TIMER_OUTPUT_INVERTED) { if (timerHardware->output & TIMER_OUTPUT_INVERTED) {
escOutputs[escSerial->outputCount].inverted = 1; escOutputs[escSerial->outputCount].inverted = 1;
} }
escSerial->txTimerHardware = timerHardware;
escSerial->outputCount++; escSerial->outputCount++;
} }
} }
@ -1011,7 +1018,7 @@ bool escEnablePassthrough(serialPort_t *escPassthroughPort, const motorDevConfig
closeEscSerial(ESCSERIAL1, mode); closeEscSerial(ESCSERIAL1, mode);
return true; return true;
} }
if (mode==PROTOCOL_BLHELI) { if (mode==PROTOCOL_BLHELI || mode==PROTOCOL_KISS || mode==PROTOCOL_KISSALL) {
serialWrite(escPassthroughPort, ch); // blheli loopback serialWrite(escPassthroughPort, ch); // blheli loopback
} }
serialWrite(escPort, ch); serialWrite(escPort, ch);