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Merge pull request #3987 from mikeller/added_blheli32_info_decoding 

Added support for decoding BLHeli32 ESC info.
This commit is contained in:
Martin Budden 2017-09-01 09:37:13 +01:00 committed by GitHub
parent ff5a4708e2 f7c66869e8
commit 23226be980
2 changed files with 137 additions and 44 deletions
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8
src/main/drivers/pwm_output.h
View File

@ -53,6 +53,14 @@ typedef enum {
DSHOT_CMD_SAVE_SETTINGS,
DSHOT_CMD_SPIN_DIRECTION_NORMAL = 20,
DSHOT_CMD_SPIN_DIRECTION_REVERSED = 21,
DSHOT_CMD_LED0_ON, // BLHeli32 only
DSHOT_CMD_LED1_ON, // BLHeli32 only
DSHOT_CMD_LED2_ON, // BLHeli32 only
DSHOT_CMD_LED3_ON, // BLHeli32 only
DSHOT_CMD_LED0_OFF, // BLHeli32 only
DSHOT_CMD_LED1_OFF, // BLHeli32 only
DSHOT_CMD_LED2_OFF, // BLHeli32 only
DSHOT_CMD_LED3_OFF, // BLHeli32 only
DSHOT_CMD_MAX = 47
} dshotCommands_e;

173
src/main/fc/cli.c
View File

@ -2259,64 +2259,98 @@ 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_KISS_V1_EXPECTED_FRAME_SIZE 15
#define ESC_INFO_KISS_V2_EXPECTED_FRAME_SIZE 21
#define ESC_INFO_BLHELI32_EXPECTED_FRAME_SIZE 64
enum {
ESC_INFO_KISS_V1,
ESC_INFO_KISS_V2,
ESC_INFO_BLHELI32
};
#define ESC_INFO_VERSION_POSITION 12
void printEscInfo(const uint8_t *escInfoBytes, uint8_t bytesRead)
void printEscInfo(const uint8_t *escInfoBuffer, 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;
uint8_t escInfoVersion;
uint8_t frameLength;
if (escInfoBuffer[ESC_INFO_VERSION_POSITION] == 254) {
escInfoVersion = ESC_INFO_BLHELI32;
frameLength = ESC_INFO_BLHELI32_EXPECTED_FRAME_SIZE;
} else if (escInfoBuffer[ESC_INFO_VERSION_POSITION] == 255) {
escInfoVersion = ESC_INFO_KISS_V2;
frameLength = ESC_INFO_KISS_V2_EXPECTED_FRAME_SIZE;
} else {
escInfoVersion = 1;
frameLength = ESC_INFO_V1_EXPECTED_FRAME_SIZE;
escInfoVersion = ESC_INFO_KISS_V1;
frameLength = ESC_INFO_KISS_V1_EXPECTED_FRAME_SIZE;
}
if (((escInfoVersion == 1) && (bytesRead == ESC_INFO_V1_EXPECTED_FRAME_SIZE))
|| ((escInfoVersion == 2) && (bytesRead == ESC_INFO_V2_EXPECTED_FRAME_SIZE))) {
if (bytesRead == frameLength) {
escInfoReceived = true;
if (calculateCrc8(escInfoBytes, frameLength - 1) == escInfoBytes[frameLength - 1]) {
if (calculateCrc8(escInfoBuffer, frameLength - 1) == escInfoBuffer[frameLength - 1]) {
uint8_t firmwareVersion = 0;
char firmwareSubVersion = 0;
uint8_t firmwareSubVersion = 0;
uint8_t escType = 0;
switch (escInfoVersion) {
case 1:
firmwareVersion = escInfoBytes[12];
firmwareSubVersion = (char)((escInfoBytes[13] & 0x1f) + 97);
escType = (escInfoBytes[13] & 0xe0) >> 5;
case ESC_INFO_KISS_V1:
firmwareVersion = escInfoBuffer[12];
firmwareSubVersion = (escInfoBuffer[13] & 0x1f) + 97;
escType = (escInfoBuffer[13] & 0xe0) >> 5;
break;
case 2:
firmwareVersion = escInfoBytes[13];
firmwareSubVersion = (char)escInfoBytes[14];
escType = escInfoBytes[15];
case ESC_INFO_KISS_V2:
firmwareVersion = escInfoBuffer[13];
firmwareSubVersion = escInfoBuffer[14];
escType = escInfoBuffer[15];
break;
case ESC_INFO_BLHELI32:
firmwareVersion = escInfoBuffer[13];
firmwareSubVersion = escInfoBuffer[14];
escType = escInfoBuffer[15];
break;
}
cliPrint("ESC: ");
switch (escType) {
case 1:
cliPrintLine("KISS8A");
switch (escInfoVersion) {
case ESC_INFO_KISS_V1:
case ESC_INFO_KISS_V2:
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;
}
break;
case 2:
cliPrintLine("KISS16A");
break;
case 3:
cliPrintLine("KISS24A");
break;
case 5:
cliPrintLine("KISS Ultralite");
break;
default:
cliPrintLine("unknown");
case ESC_INFO_BLHELI32:
{
char *escType = (char *)(escInfoBuffer + 31);
escType[32] = 0;
cliPrintLine(escType);
}
break;
}
@ -2325,14 +2359,64 @@ void printEscInfo(const uint8_t *escInfoBytes, uint8_t bytesRead)
if (i && (i % 3 == 0)) {
cliPrint("-");
}
cliPrintf("%02x", escInfoBytes[i]);
cliPrintf("%02x", escInfoBuffer[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");
switch (escInfoVersion) {
case ESC_INFO_KISS_V1:
case ESC_INFO_KISS_V2:
cliPrintLinef("Firmware: %d.%02d%c", firmwareVersion / 100, firmwareVersion % 100, (char)firmwareSubVersion);
break;
case ESC_INFO_BLHELI32:
cliPrintLinef("Firmware: %d.%02d%", firmwareVersion, firmwareSubVersion);
break;
}
if (escInfoVersion == ESC_INFO_KISS_V2 || escInfoVersion == ESC_INFO_BLHELI32) {
cliPrintLinef("Rotation: %s", escInfoBuffer[16] ? "reversed" : "normal");
cliPrintLinef("3D: %s", escInfoBuffer[17] ? "on" : "off");
if (escInfoVersion == ESC_INFO_BLHELI32) {
uint8_t setting = escInfoBuffer[18];
cliPrint("Low voltage limit: ");
switch (setting) {
case 0:
cliPrintLine("off");
break;
case 255:
cliPrintLine("unsupported");
break;
default:
cliPrintLinef("%d.%01d", setting / 10, setting % 10);
break;
}
setting = escInfoBuffer[19];
cliPrint("Current limit: ");
switch (setting) {
case 0:
cliPrintLine("off");
break;
case 255:
cliPrintLine("unsupported");
break;
default:
cliPrintLinef("%d", setting);
break;
}
for (int i = 0; i < 4; i++) {
setting = escInfoBuffer[i + 20];
cliPrintLinef("LED %d: %s", i, setting ? (setting == 255) ? "unsupported" : "on" : "off");
}
}
}
} else {
cliPrintLine("Checksum error.");
@ -2347,14 +2431,15 @@ void printEscInfo(const uint8_t *escInfoBytes, uint8_t bytesRead)
static void executeEscInfoCommand(uint8_t escIndex)
{
uint8_t escInfoBuffer[ESC_INFO_V2_EXPECTED_FRAME_SIZE];
cliPrintLinef("Info for ESC %d:", escIndex);
startEscDataRead(escInfoBuffer, ESC_INFO_V2_EXPECTED_FRAME_SIZE);
uint8_t escInfoBuffer[ESC_INFO_BLHELI32_EXPECTED_FRAME_SIZE];
startEscDataRead(escInfoBuffer, ESC_INFO_BLHELI32_EXPECTED_FRAME_SIZE);
pwmWriteDshotCommand(escIndex, getMotorCount(), DSHOT_CMD_ESC_INFO);
delay(5);
delay(10);
printEscInfo(escInfoBuffer, getNumberEscBytesRead());
}