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Use the cached value of useDshotTelemetry to ensure consistent runtime use if dshot_bidir is changed (#13589)

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Steve Evans 2024-04-28 00:31:50 +01:00 • committed by GitHub
parent 54377940e0
commit 565de1b68b
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GPG key ID: B5690EEEBB952194
11 changed files with 19 additions and 20 deletions
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4
src/main/blackbox/blackbox.c
View file

@ -469,7 +469,7 @@ static bool testBlackboxConditionUncached(FlightLogFieldCondition condition)
case CONDITION(MOTOR_6_HAS_RPM):
case CONDITION(MOTOR_7_HAS_RPM):
case CONDITION(MOTOR_8_HAS_RPM):
return (getMotorCount() >= condition - CONDITION(MOTOR_1_HAS_RPM) + 1) && (motorConfig()->dev.useDshotTelemetry) && isFieldEnabled(FIELD_SELECT(RPM));
return (getMotorCount() >= condition - CONDITION(MOTOR_1_HAS_RPM) + 1) && useDshotTelemetry && isFieldEnabled(FIELD_SELECT(RPM));
#endif
case CONDITION(TRICOPTER):
@ -1524,7 +1524,7 @@ static bool blackboxWriteSysinfo(void)
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DYN_NOTCH_MIN_HZ, "%d", dynNotchConfig()->dyn_notch_min_hz);
#endif
#ifdef USE_DSHOT_TELEMETRY
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DSHOT_BIDIR, "%d", motorConfig()->dev.useDshotTelemetry);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_DSHOT_BIDIR, "%d", useDshotTelemetry);
BLACKBOX_PRINT_HEADER_LINE(PARAM_NAME_MOTOR_POLES, "%d", motorConfig()->motorPoleCount);
#endif
#ifdef USE_RPM_FILTER

2
src/main/drivers/dshot.c
View file

@ -291,7 +291,7 @@ static void dshotUpdateTelemetryData(uint8_t motorIndex, dshotTelemetryType_t ty
FAST_CODE_NOINLINE void updateDshotTelemetry(void)
{
if (!motorConfig()->dev.useDshotTelemetry) {
if (!useDshotTelemetry) {
return;
}

2
src/main/drivers/dshot.h
View file

@ -89,9 +89,9 @@ float dshotConvertFromExternal(uint16_t externalValue);
uint16_t dshotConvertToExternal(float motorValue);
uint16_t prepareDshotPacket(dshotProtocolControl_t *pcb);
extern bool useDshotTelemetry;
#ifdef USE_DSHOT_TELEMETRY
extern bool useDshotTelemetry;
typedef struct dshotTelemetryMotorState_s {
uint16_t rawValue;

4
src/main/drivers/motor.c
View file

@ -63,7 +63,7 @@ void motorWriteAll(float *values)
#ifdef USE_PWM_OUTPUT
if (motorDevice->enabled) {
#ifdef USE_DSHOT_BITBANG
if (isDshotBitbangActive(&motorConfig()->dev)) {
if (useDshotTelemetry && isDshotBitbangActive(&motorConfig()->dev)) {
// Initialise the output buffers
if (motorDevice->vTable.updateInit) {
motorDevice->vTable.updateInit();
@ -297,7 +297,7 @@ bool isMotorProtocolDshot(void)
bool isMotorProtocolBidirDshot(void)
{
return isMotorProtocolDshot() && motorConfig()->dev.useDshotTelemetry;
return isMotorProtocolDshot() && useDshotTelemetry;
}
void motorDevInit(const motorDevConfig_t *motorDevConfig, uint16_t idlePulse, uint8_t motorCount)

6
src/main/fc/core.c
View file

@ -363,7 +363,7 @@ void updateArmingStatus(void)
#ifdef USE_DSHOT_TELEMETRY
// If Dshot Telemetry is enabled and any motor isn't providing telemetry, then disable arming
if (motorConfig()->dev.useDshotTelemetry && !isDshotTelemetryActive()) {
if (useDshotTelemetry && !isDshotTelemetryActive()) {
setArmingDisabled(ARMING_DISABLED_DSHOT_TELEM);
} else {
unsetArmingDisabled(ARMING_DISABLED_DSHOT_TELEM);
@ -371,7 +371,7 @@ void updateArmingStatus(void)
#endif
#ifdef USE_DSHOT_BITBANG
if (isDshotBitbangActive(&motorConfig()->dev) && dshotBitbangGetStatus() != DSHOT_BITBANG_STATUS_OK) {
if (useDshotTelemetry && isDshotBitbangActive(&motorConfig()->dev) && dshotBitbangGetStatus() != DSHOT_BITBANG_STATUS_OK) {
setArmingDisabled(ARMING_DISABLED_DSHOT_BITBANG);
} else {
unsetArmingDisabled(ARMING_DISABLED_DSHOT_BITBANG);
@ -514,7 +514,7 @@ void tryArm(void)
if (isMotorProtocolDshot()) {
#if defined(USE_ESC_SENSOR) && defined(USE_DSHOT_TELEMETRY)
// Try to activate extended DSHOT telemetry only if no esc sensor exists and dshot telemetry is active
if (!featureIsEnabled(FEATURE_ESC_SENSOR) && motorConfig()->dev.useDshotTelemetry) {
if (!featureIsEnabled(FEATURE_ESC_SENSOR) && useDshotTelemetry) {
dshotCleanTelemetryData();
if (motorConfig()->dev.useDshotEdt) {
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE, DSHOT_CMD_TYPE_INLINE);

2
src/main/flight/mixer.c
View file

@ -680,7 +680,7 @@ FAST_CODE_NOINLINE void mixTable(timeUs_t currentTimeUs)
#endif
#ifdef USE_RPM_LIMIT
if (RPM_LIMIT_ACTIVE && motorConfig()->dev.useDshotTelemetry && ARMING_FLAG(ARMED)) {
if (RPM_LIMIT_ACTIVE && useDshotTelemetry && ARMING_FLAG(ARMED)) {
applyRpmLimiter(&mixerRuntime);
}
#endif

2
src/main/flight/mixer_init.c
View file

@ -328,7 +328,7 @@ void initEscEndpoints(void)
void mixerInitProfile(void)
{
#ifdef USE_DYN_IDLE
if (motorConfigMutable()->dev.useDshotTelemetry) {
if (useDshotTelemetry) {
mixerRuntime.dynIdleMinRps = currentPidProfile->dyn_idle_min_rpm * 100.0f / 60.0f;
} else {
mixerRuntime.dynIdleMinRps = 0.0f;

5
src/main/flight/rpm_filter.c
View file

@ -68,7 +68,6 @@ FAST_DATA_ZERO_INIT static int notchUpdatesPerIteration;
FAST_DATA_ZERO_INIT static int motorIndex;
FAST_DATA_ZERO_INIT static int harmonicIndex;
void rpmFilterInit(const rpmFilterConfig_t *config, const timeUs_t looptimeUs)
{
motorIndex = 0;
@ -76,7 +75,7 @@ void rpmFilterInit(const rpmFilterConfig_t *config, const timeUs_t looptimeUs)
rpmFilter.numHarmonics = 0; // disable RPM Filtering
// if bidirectional DShot is not available
if (!motorConfig()->dev.useDshotTelemetry) {
if (!useDshotTelemetry) {
return;
}
@ -112,7 +111,7 @@ void rpmFilterInit(const rpmFilterConfig_t *config, const timeUs_t looptimeUs)
FAST_CODE_NOINLINE void rpmFilterUpdate(void)
{
if (!motorConfig()->dev.useDshotTelemetry) {
if (!useDshotTelemetry) {
return;
}

6
src/main/msp/msp.c
View file

@ -1218,7 +1218,7 @@ case MSP_NAME:
bool rpmDataAvailable = false;
#ifdef USE_DSHOT_TELEMETRY
if (motorConfig()->dev.useDshotTelemetry) {
if (useDshotTelemetry) {
rpm = lrintf(getDshotRpm(i));
rpmDataAvailable = true;
invalidPct = 10000; // 100.00%
@ -1448,7 +1448,7 @@ case MSP_NAME:
sbufWriteU8(dst, getMotorCount());
sbufWriteU8(dst, motorConfig()->motorPoleCount);
#ifdef USE_DSHOT_TELEMETRY
sbufWriteU8(dst, motorConfig()->dev.useDshotTelemetry);
sbufWriteU8(dst, useDshotTelemetry);
#else
sbufWriteU8(dst, 0);
#endif
@ -1479,7 +1479,7 @@ case MSP_NAME:
} else
#endif
#if defined(USE_DSHOT_TELEMETRY)
if (motorConfig()->dev.useDshotTelemetry) {
if (useDshotTelemetry) {
sbufWriteU8(dst, getMotorCount());
for (int i = 0; i < getMotorCount(); i++) {
sbufWriteU8(dst, dshotTelemetryState.motorState[i].telemetryData[DSHOT_TELEMETRY_TYPE_TEMPERATURE]);

2
src/main/osd/osd.c
View file

@ -608,7 +608,7 @@ static int32_t getAverageEscRpm(void)
}
#endif
#ifdef USE_DSHOT_TELEMETRY
if (motorConfig()->dev.useDshotTelemetry) {
if (useDshotTelemetry) {
return lrintf(getDshotRpmAverage());
}
#endif

4
src/main/osd/osd_elements.c
View file

@ -267,7 +267,7 @@ typedef int (*getEscRpmOrFreqFnPtr)(int i);
static int getEscRpm(int i)
{
#ifdef USE_DSHOT_TELEMETRY
if (motorConfig()->dev.useDshotTelemetry) {
if (useDshotTelemetry) {
return lrintf(getDshotRpm(i));
}
#endif
@ -2064,7 +2064,7 @@ void osdAddActiveElements(void)
#endif // GPS
#if defined(USE_DSHOT_TELEMETRY) || defined(USE_ESC_SENSOR)
if ((featureIsEnabled(FEATURE_ESC_SENSOR)) || (motorConfig()->dev.useDshotTelemetry)) {
if ((featureIsEnabled(FEATURE_ESC_SENSOR)) || useDshotTelemetry) {
osdAddActiveElement(OSD_ESC_TMP);
osdAddActiveElement(OSD_ESC_RPM);
osdAddActiveElement(OSD_ESC_RPM_FREQ);