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Code Issues Wiki Activity

Motor code refactor (Phase 1)

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This commit is contained in:
jflyper 2019-06-29 03:30:05 +09:00
parent f4bb75180e
commit 542146c702
41 changed files with 1543 additions and 975 deletions
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9
src/main/fc/core.c
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@ -40,7 +40,10 @@
#include "config/feature.h"
#include "drivers/dshot.h"
#include "drivers/dshot_command.h"
#include "drivers/light_led.h"
#include "drivers/motor.h"
#include "drivers/sound_beeper.h"
#include "drivers/system.h"
#include "drivers/time.h"
@ -368,7 +371,7 @@ void disarm(void)
BEEP_OFF;
#ifdef USE_DSHOT
if (isMotorProtocolDshot() && flipOverAfterCrashActive && !featureIsEnabled(FEATURE_3D)) {
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false);
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false);
}
#endif
flipOverAfterCrashActive = false;
@ -419,7 +422,7 @@ void tryArm(void)
if (!(IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) || (tryingToArm == ARMING_DELAYED_CRASHFLIP))) {
flipOverAfterCrashActive = false;
if (!featureIsEnabled(FEATURE_3D)) {
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false);
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false);
}
} else {
flipOverAfterCrashActive = true;
@ -427,7 +430,7 @@ void tryArm(void)
runawayTakeoffCheckDisabled = false;
#endif
if (!featureIsEnabled(FEATURE_3D)) {
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED, false);
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED, false);
}
}
}