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Made Dshot commands work in a non-blocking way.

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mikeller 2018-06-01 00:30:33 +12:00 • committed by Michael Keller
parent 0045b36320
commit 51763a40f9
3 changed files with 11 additions and 10 deletions
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12
src/main/drivers/pwm_output.c
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@ -435,9 +435,9 @@ void pwmWriteDshotCommand(uint8_t index, uint8_t motorCount, uint8_t command, bo
}
delayMicroseconds(timeDelayUs);
} else {
for (uint8_t i = 0; i < motorCount; i++) {
if ((i == index) || (index == ALL_MOTORS)) {
if (dshotCommandControl.command[i] == 0) {
if (!pwmIsProcessingDshotCommand()) {
for (uint8_t i = 0; i < motorCount; i++) {
if ((index == i) || (index == ALL_MOTORS)) {
dshotCommandControl.command[i] = command;
dshotCommandControl.repeats = repeats;
dshotCommandControl.nextCommandAt = timeNowUs + DSHOT_COMMAND_DELAY_US;
@ -458,11 +458,11 @@ uint8_t pwmGetDshotCommand(uint8_t index)
return dshotCommandControl.command[index];
}
bool pwmProcessDshotCommand(uint8_t motorCount)
bool FAST_CODE_NOINLINE 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
return false; //Skip motor update because it isn't time yet for a new command
}
//Timed motor update happening with dshot command
@ -480,7 +480,7 @@ bool pwmProcessDshotCommand(uint8_t motorCount)
dshotCommandControl.delayAfterCommand = 0;
}
return false;
return true;
}
FAST_CODE uint16_t prepareDshotPacket(motorDmaOutput_t *const motor, const uint16_t value)