Added display of (KISS) ESC version info for 'dshotprog <ESC index> 6'.

src/main/fc/cli.c

@@ -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);
 }
@@ -2202,6 +2203,21 @@ static int parseOutputIndex(char *pch, bool allowAllEscs) {
 }
 
 #ifdef USE_DSHOT
+
+#define ESC_INFO_EXPECTED_FRAME_SIZE 15
+
+void printEscInfo(const uint8_t *escInfoBytes)
+{
+    cliPrint("MCU Id: 0x");
+    for (int i = 0; i < 12; i++) {
+        cliPrintf("%02x", escInfoBytes[i]);
+    }
+    cliPrintLinef("\nFirmware version: %d.%02d%c", escInfoBytes[12] / 100, escInfoBytes[12] % 100, (const char)((escInfoBytes[13] & 0x1f) + 97));
+
+    uint8_t escType = (escInfoBytes[13] & 0xe0) >> 5;
+    cliPrintLinef("ESC type: %d", escType);
+}
+
 static void cliDshotProg(char *cmdline)
 {
     if (isEmpty(cmdline) || motorConfig()->dev.motorPwmProtocol < PWM_TYPE_DSHOT150) {
@@ -2232,17 +2248,45 @@ 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_EXPECTED_FRAME_SIZE];
+                        if (command == DSHOT_CMD_ESC_INFO) {
+                            delay(10); // Wait for potential ESC telemetry transmission to finish
+
+                            startEscDataRead(ESC_INFO_EXPECTED_FRAME_SIZE, escInfoBuffer);
+                        }
+
                         pwmWriteDshotCommand(escIndex, command);
+
+                        if (command == DSHOT_CMD_ESC_INFO) {
+                            bool escInfoReceived = false;
+                            for (int i = 0; i < 10; i++) {
+                                delay(20);
+
+                                if (checkEscDataReadFinished()) {
+                                    escInfoReceived = true;
+
+                                    break;
+                                }
+                            }
+
+                            if (escInfoReceived) {
+                                printEscInfo(escInfoBuffer);
+                            } else {
+                                cliPrint("No ESC info received.");
+                            }
+                        } 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;

src/main/sensors/esc_sensor.c

@@ -97,12 +97,14 @@ typedef enum {
 } escSensorTriggerState_t;
 
 #define ESC_SENSOR_BAUDRATE 115200
-#define ESC_SENSOR_BUFFSIZE 10
 #define ESC_BOOTTIME 5000               // 5 seconds
 #define ESC_REQUEST_TIMEOUT 100         // 100 ms (data transfer takes only 900us)
 
-static volatile bool tlmFramePending = false;
+#define TELEMETRY_FRAME_SIZE 10
-static uint8_t tlm[ESC_SENSOR_BUFFSIZE] = { 0, };
+static uint8_t telemetryBuffer[TELEMETRY_FRAME_SIZE] = { 0, };
+
+static volatile uint8_t *buffer;
+static volatile uint8_t tlmExpectedFrameSize = 0;
 static uint8_t tlmFramePosition = 0;
 
 static serialPort_t *escSensorPort = NULL;
@@ -119,6 +121,17 @@ static bool combinedDataNeedsUpdate = true;
 static uint16_t totalTimeoutCount = 0;
 static uint16_t totalCrcErrorCount = 0;
 
+void startEscDataRead(uint8_t frameLength, uint8_t *frameBuffer)
+{
+    buffer = frameBuffer;
+    tlmExpectedFrameSize = frameLength;
+}
+
+bool checkEscDataReadFinished(void)
+{
+    return tlmExpectedFrameSize == 0;
+}
+
 bool isEscSensorActive(void)
 {
     return escSensorPort != NULL;
@@ -166,18 +179,16 @@ static void escSensorDataReceive(uint16_t c)
     // KISS ESC sends some data during startup, ignore this for now (maybe future use)
     // startup data could be firmware version and serialnumber
 
-    if (!tlmFramePending) {
+    if (!tlmExpectedFrameSize) {
         return;
     }
 
-    tlm[tlmFramePosition] = (uint8_t)c;
+    buffer[tlmFramePosition++] = (uint8_t)c;
 
-    if (tlmFramePosition == ESC_SENSOR_BUFFSIZE - 1) {
+    if (tlmFramePosition == tlmExpectedFrameSize) {
         tlmFramePosition = 0;
 
-        tlmFramePending = false;
+        tlmExpectedFrameSize = 0;
-    } else {
-        tlmFramePosition++;
     }
 }
 
@@ -221,21 +232,21 @@ static uint8_t get_crc8(uint8_t *Buf, uint8_t BufLen)
 
 static uint8_t decodeEscFrame(void)
 {
-    if (tlmFramePending) {
+    if (tlmExpectedFrameSize) {
         return ESC_SENSOR_FRAME_PENDING;
     }
 
     // Get CRC8 checksum
-    uint16_t chksum = get_crc8(tlm, ESC_SENSOR_BUFFSIZE - 1);
+    uint16_t chksum = get_crc8(telemetryBuffer, TELEMETRY_FRAME_SIZE - 1);
-    uint16_t tlmsum = tlm[ESC_SENSOR_BUFFSIZE - 1];     // last byte contains CRC value
+    uint16_t tlmsum = telemetryBuffer[TELEMETRY_FRAME_SIZE - 1];     // last byte contains CRC value
     uint8_t frameStatus;
     if (chksum == tlmsum) {
         escSensorData[escSensorMotor].dataAge = 0;
-        escSensorData[escSensorMotor].temperature = tlm[0];
+        escSensorData[escSensorMotor].temperature = telemetryBuffer[0];
-        escSensorData[escSensorMotor].voltage = tlm[1] << 8 | tlm[2];
+        escSensorData[escSensorMotor].voltage = telemetryBuffer[1] << 8 | telemetryBuffer[2];
-        escSensorData[escSensorMotor].current = tlm[3] << 8 | tlm[4];
+        escSensorData[escSensorMotor].current = telemetryBuffer[3] << 8 | telemetryBuffer[4];
-        escSensorData[escSensorMotor].consumption = tlm[5] << 8 | tlm[6];
+        escSensorData[escSensorMotor].consumption = telemetryBuffer[5] << 8 | telemetryBuffer[6];
-        escSensorData[escSensorMotor].rpm = tlm[7] << 8 | tlm[8];
+        escSensorData[escSensorMotor].rpm = telemetryBuffer[7] << 8 | telemetryBuffer[8];
 
         combinedDataNeedsUpdate = true;
 
@@ -286,7 +297,8 @@ void escSensorProcess(timeUs_t currentTimeUs)
         case ESC_SENSOR_TRIGGER_READY:
             escTriggerTimestamp = currentTimeMs;
 
-            tlmFramePending = true;
+            buffer = telemetryBuffer;
+            tlmExpectedFrameSize = TELEMETRY_FRAME_SIZE;
             motorDmaOutput_t * const motor = getMotorDmaOutput(escSensorMotor);
             motor->requestTelemetry = true;
             escSensorTriggerState = ESC_SENSOR_TRIGGER_PENDING;

src/main/sensors/esc_sensor.h

@@ -45,3 +45,6 @@ void escSensorProcess(timeUs_t currentTime);
 
 escSensorData_t *getEscSensorData(uint8_t motorNumber);
 
+void startEscDataRead(uint8_t frameLength, uint8_t *frameBuffer);
+bool checkEscDataReadFinished(void);
+