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Added blocked dshot commands, Added post command delay

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Moved the dshotcommand to happen in pwm_output_dshot.
Simplified the timing and repeats to happen on a group basis instead works better for dshotburst
This commit is contained in:
Bryce Johnson 2018-04-17 21:48:16 -06:00 • committed by Michael Keller
parent f37a8184d5
commit 0045b36320
8 changed files with 131 additions and 42 deletions
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111
src/main/drivers/pwm_output.c
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@ -37,6 +37,18 @@ static FAST_RAM_ZERO_INIT pwmCompleteWriteFn *pwmCompleteWrite = NULL;
#ifdef USE_DSHOT
FAST_RAM_ZERO_INIT loadDmaBufferFn *loadDmaBuffer;
#define DSHOT_COMMAND_DELAY_US 1000
#define DSHOT_ESCINFO_DELAY_US 5000
#define DSHOT_BEEP_DELAY_US 100000
typedef struct dshotCommandControl_s {
timeUs_t nextCommandAt;
timeUs_t delayAfterCommand;
uint8_t command[MAX_SUPPORTED_MOTORS];
uint8_t repeats;
} dshotCommandControl_t;
dshotCommandControl_t dshotCommandControl;
#endif
#ifdef USE_SERVOS
@ -374,27 +386,44 @@ uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType)
}
}
void pwmWriteDshotCommand(uint8_t index, uint8_t motorCount, uint8_t command)
void pwmWriteDshotCommand(uint8_t index, uint8_t motorCount, uint8_t command, bool blocking)
{
if (isDshot && (command <= DSHOT_MAX_COMMAND)) {
unsigned repeats;
switch (command) {
case DSHOT_CMD_SPIN_DIRECTION_1:
case DSHOT_CMD_SPIN_DIRECTION_2:
case DSHOT_CMD_3D_MODE_OFF:
case DSHOT_CMD_3D_MODE_ON:
case DSHOT_CMD_SAVE_SETTINGS:
case DSHOT_CMD_SPIN_DIRECTION_NORMAL:
case DSHOT_CMD_SPIN_DIRECTION_REVERSED:
repeats = 10;
break;
default:
repeats = 1;
break;
}
timeUs_t timeNowUs = micros();
if (!isMotorProtocolDshot() || (command > DSHOT_MAX_COMMAND)) {
return;
}
uint8_t repeats = 1;
timeUs_t timeDelayUs = DSHOT_COMMAND_DELAY_US;
switch (command) {
case DSHOT_CMD_SPIN_DIRECTION_1:
case DSHOT_CMD_SPIN_DIRECTION_2:
case DSHOT_CMD_3D_MODE_OFF:
case DSHOT_CMD_3D_MODE_ON:
case DSHOT_CMD_SAVE_SETTINGS:
case DSHOT_CMD_SPIN_DIRECTION_NORMAL:
case DSHOT_CMD_SPIN_DIRECTION_REVERSED:
repeats = 10;
timeDelayUs = DSHOT_COMMAND_DELAY_US;
break;
case DSHOT_CMD_BEACON1:
case DSHOT_CMD_BEACON2:
case DSHOT_CMD_BEACON3:
case DSHOT_CMD_BEACON4:
case DSHOT_CMD_BEACON5:
repeats = 1;
timeDelayUs = DSHOT_BEEP_DELAY_US;
break;
default:
break;
}
if (blocking) {
for (; repeats; repeats--) {
for (uint8_t i = 0; i < motorCount; i++) {
delayMicroseconds(DSHOT_COMMAND_DELAY_US);
if ((i == index) || (index == ALL_MOTORS)) {
motorDmaOutput_t *const motor = getMotorDmaOutput(i);
motor->requestTelemetry = true;
@ -403,11 +432,57 @@ void pwmWriteDshotCommand(uint8_t index, uint8_t motorCount, uint8_t command)
}
pwmCompleteDshotMotorUpdate(0);
delay(1);
}
delayMicroseconds(timeDelayUs);
} else {
for (uint8_t i = 0; i < motorCount; i++) {
if ((i == index) || (index == ALL_MOTORS)) {
if (dshotCommandControl.command[i] == 0) {
dshotCommandControl.command[i] = command;
dshotCommandControl.repeats = repeats;
dshotCommandControl.nextCommandAt = timeNowUs + DSHOT_COMMAND_DELAY_US;
dshotCommandControl.delayAfterCommand = timeDelayUs;
}
}
}
}
}
FAST_RAM bool pwmIsProcessingDshotCommand(void)
{
return dshotCommandControl.nextCommandAt;
}
uint8_t pwmGetDshotCommand(uint8_t index)
{
return dshotCommandControl.command[index];
}
bool pwmProcessDshotCommand(uint8_t motorCount)
{
timeUs_t timeNowUs = micros();
if (cmpTimeUs(timeNowUs, dshotCommandControl.nextCommandAt) < 0) {
return true; //Skip motor update because it isn't time yet for a new command
}
//Timed motor update happening with dshot command
if (dshotCommandControl.repeats > 0) {
dshotCommandControl.repeats--;
dshotCommandControl.nextCommandAt = timeNowUs + DSHOT_COMMAND_DELAY_US;
if (dshotCommandControl.repeats == 0) {
dshotCommandControl.nextCommandAt = timeNowUs + dshotCommandControl.delayAfterCommand;
}
} else {
for (uint8_t i = 0; i < motorCount; i++) {
dshotCommandControl.command[i] = 0;
}
dshotCommandControl.nextCommandAt = 0;
dshotCommandControl.delayAfterCommand = 0;
}
return false;
}
FAST_CODE uint16_t prepareDshotPacket(motorDmaOutput_t *const motor, const uint16_t value)
{
uint16_t packet = (value << 1) | (motor->requestTelemetry ? 1 : 0);