Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-15 12:25:20 +03:00
Code Issues Wiki Activity

Add option to reboot an esc to 4way esc interface

Browse source
This commit is contained in:
Thorsten Laux 2019-08-03 07:08:05 +02:00
parent d8510603a1
commit e51f774088
1 changed files with 16 additions and 4 deletions
Download patch file Download diff file Expand all files Collapse all files

20
src/main/io/serial_4way.c
View file

@ -33,8 +33,8 @@
#include "drivers/buf_writer.h" #include "drivers/buf_writer.h"
#include "drivers/io.h" #include "drivers/io.h"
#include "drivers/serial.h" #include "drivers/serial.h"
#include "drivers/time.h"
#include "drivers/timer.h" #include "drivers/timer.h"
#include "drivers/pwm_output.h"
#include "drivers/light_led.h" #include "drivers/light_led.h"
#include "flight/mixer.h" #include "flight/mixer.h"
@ -76,9 +76,9 @@
// *** change to adapt Revision // *** change to adapt Revision
#define SERIAL_4WAY_VER_MAIN 20 #define SERIAL_4WAY_VER_MAIN 20
#define SERIAL_4WAY_VER_SUB_1 (uint8_t) 0 #define SERIAL_4WAY_VER_SUB_1 (uint8_t) 0
#define SERIAL_4WAY_VER_SUB_2 (uint8_t) 03 #define SERIAL_4WAY_VER_SUB_2 (uint8_t) 04
#define SERIAL_4WAY_PROTOCOL_VER 107 #define SERIAL_4WAY_PROTOCOL_VER 108
// *** end // *** end
#if (SERIAL_4WAY_VER_MAIN > 24) #if (SERIAL_4WAY_VER_MAIN > 24)
@ -139,7 +139,6 @@ uint8_t esc4wayInit(void)
// StopPwmAllMotors(); // StopPwmAllMotors();
// XXX Review effect of motor refactor // XXX Review effect of motor refactor
//pwmDisableMotors(); //pwmDisableMotors();
motorDisable();
escCount = 0; escCount = 0;
memset(&escHardware, 0, sizeof(escHardware)); memset(&escHardware, 0, sizeof(escHardware));
pwmOutputPort_t *pwmMotors = pwmGetMotors(); pwmOutputPort_t *pwmMotors = pwmGetMotors();
@ -153,6 +152,7 @@ uint8_t esc4wayInit(void)
} }
} }
} }
motorDisable();
return escCount; return escCount;
} }
@ -566,9 +566,13 @@ void esc4wayProcess(serialPort_t *mspPort)
case cmd_DeviceReset: case cmd_DeviceReset:
{ {
bool rebootEsc = false;
if (ParamBuf[0] < escCount) { if (ParamBuf[0] < escCount) {
// Channel may change here // Channel may change here
selected_esc = ParamBuf[0]; selected_esc = ParamBuf[0];
if (ioMem.D_FLASH_ADDR_L == 1) {
rebootEsc = true;
}
} }
else { else {
ACK_OUT = ACK_I_INVALID_CHANNEL; ACK_OUT = ACK_I_INVALID_CHANNEL;
@ -582,6 +586,14 @@ void esc4wayProcess(serialPort_t *mspPort)
case imARM_BLB: case imARM_BLB:
{ {
BL_SendCMDRunRestartBootloader(&DeviceInfo); BL_SendCMDRunRestartBootloader(&DeviceInfo);
if (rebootEsc) {
ESC_OUTPUT;
setEscLo(selected_esc);
timeMs_t m = millis();
while (millis() - m < 300);
setEscHi(selected_esc);
ESC_INPUT;
}
break; break;
} }
#endif #endif