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Merge pull request #3474 from mikeller/add_esc_version_info

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Added display of (KISS) ESC version info for 'dshotprog <ESC index> 6'.
This commit is contained in:
Michael Keller 2017-07-11 21:16:56 +12:00 • committed by GitHub
commit de6b4ff62a
3 changed files with 163 additions and 37 deletions
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128
src/main/fc/cli.c
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@ -120,6 +120,7 @@ extern uint8_t __config_end;
#include "sensors/battery.h"
#include "sensors/boardalignment.h"
#include "sensors/compass.h"
#include "sensors/esc_sensor.h"
#include "sensors/gyro.h"
#include "sensors/sensors.h"
@ -877,12 +878,12 @@ static void cliSerialPassthrough(char *cmdline)
tok = strtok_r(NULL, " ", &saveptr);
}
tfp_printf("Port %d ", id);
cliPrintf("Port %d ", id);
serialPort_t *passThroughPort;
serialPortUsage_t *passThroughPortUsage = findSerialPortUsageByIdentifier(id);
if (!passThroughPortUsage || passThroughPortUsage->serialPort == NULL) {
if (!baud) {
tfp_printf("closed, specify baud.\r\n");
cliPrint("closed, specify baud.\r\n");
return;
}
if (!mode)
@ -892,17 +893,17 @@ static void cliSerialPassthrough(char *cmdline)
baud, mode,
SERIAL_NOT_INVERTED);
if (!passThroughPort) {
tfp_printf("could not be opened.\r\n");
cliPrint("could not be opened.\r\n");
return;
}
tfp_printf("opened, baud = %d.\r\n", baud);
cliPrintf("opened, baud = %d.\r\n", baud);
} else {
passThroughPort = passThroughPortUsage->serialPort;
// If the user supplied a mode, override the port's mode, otherwise
// leave the mode unchanged. serialPassthrough() handles one-way ports.
tfp_printf("already open.\r\n");
cliPrint("already open.\r\n");
if (mode && passThroughPort->mode != mode) {
tfp_printf("mode changed from %d to %d.\r\n",
cliPrintf("mode changed from %d to %d.\r\n",
passThroughPort->mode, mode);
serialSetMode(passThroughPort, mode);
}
@ -913,7 +914,7 @@ static void cliSerialPassthrough(char *cmdline)
}
}
tfp_printf("forwarding, power cycle to exit.\r\n");
cliPrint("Forwarding, power cycle to exit.\r\n");
serialPassthrough(cliPort, passThroughPort, NULL, NULL);
}
@ -2212,6 +2213,98 @@ static int parseOutputIndex(char *pch, bool allowAllEscs) {
}
#ifdef USE_DSHOT
#define ESC_INFO_V1_EXPECTED_FRAME_SIZE 15
#define ESC_INFO_V2_EXPECTED_FRAME_SIZE 21
#define ESC_INFO_VERSION_POSITION 12
void printEscInfo(const uint8_t *escInfoBytes, uint8_t bytesRead)
{
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;
}
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)
{
if (isEmpty(cmdline) || motorConfig()->dev.motorPwmProtocol < PWM_TYPE_DSHOT150) {
@ -2242,17 +2335,32 @@ static void cliDshotProg(char *cmdline)
for (unsigned i = 0; i < getMotorCount(); i++) {
pwmWriteDshotCommand(i, command);
}
cliPrintf("Command %d written.\r\n", command);
} else {
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(escInfoBuffer, ESC_INFO_V2_EXPECTED_FRAME_SIZE);
}
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) {
delay(10); // wait for sound output to finish
}
tfp_printf("Command %d written.\r\n", command);
} else {
tfp_printf("Invalid command, range 1 to %d.\r\n", DSHOT_MIN_THROTTLE - 1);
cliPrintf("Invalid command, range 1 to %d.\r\n", DSHOT_MIN_THROTTLE - 1);
}
break;