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Merge pull request #7929 from etracer65/fix_dshot_command_output

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Fix erroneous dshot motor frame between multiple queued dshot commands at arming
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Michael Keller 2019-04-08 22:48:23 +12:00 • committed by GitHub
commit 0611a3eab6
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1 changed files with 11 additions and 1 deletions
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12
src/main/drivers/pwm_output.c
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@ -456,7 +456,11 @@ FAST_CODE bool pwmDshotCommandIsProcessing(void)
return false;
}
dshotCommandControl_t* command = &commandQueue[commandQueueTail];
return command->nextCommandAtUs && !command->waitingForIdle && command->repeats > 0;
// Check if this is the last command in the queue. If not then we want to
// keep sending the command instead of falling back to the motor value to
// prevent a motor command frame to slip through between the this and the next command.
const bool isLastCommand = (commandQueueTail + 1) % (DSHOT_MAX_COMMANDS + 1) == commandQueueHead;
return (command->nextCommandAtUs && !command->waitingForIdle && command->repeats > 0) || !isLastCommand;
}
FAST_CODE void pwmDshotCommandQueueUpdate(void)
@ -467,6 +471,12 @@ FAST_CODE void pwmDshotCommandQueueUpdate(void)
dshotCommandControl_t* command = &commandQueue[commandQueueTail];
if (!command->nextCommandAtUs && !command->waitingForIdle && !command->repeats) {
commandQueueTail = (commandQueueTail + 1) % (DSHOT_MAX_COMMANDS + 1);
if (pwmDshotCommandIsQueued()) {
// there's another command in the queue
dshotCommandControl_t* nextCommand = &commandQueue[commandQueueTail];
nextCommand->waitingForIdle = false;
nextCommand->nextCommandAtUs = micros() + command->delayAfterCommandUs;
}
}
}