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Merge pull request #8828 from joelucid/fix_esc_telemetry

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Fix serial esc telemetry with bitbang dshot
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Michael Keller 2019-09-07 12:16:31 +12:00 • committed by GitHub
commit 8639fb88a6
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1 changed files with 6 additions and 1 deletions
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7
src/main/drivers/dshot_bitbang.c
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@ -39,6 +39,7 @@
#include "drivers/motor.h" #include "drivers/motor.h"
#include "drivers/nvic.h" #include "drivers/nvic.h"
#include "drivers/pwm_output.h" // XXX for pwmOutputPort_t motors[]; should go away with refactoring #include "drivers/pwm_output.h" // XXX for pwmOutputPort_t motors[]; should go away with refactoring
#include "drivers/dshot_dpwm.h" // XXX for motorDmaOutput_t *getMotorDmaOutput(uint8_t index); should go away with refactoring
#include "drivers/dshot_bitbang_decode.h" #include "drivers/dshot_bitbang_decode.h"
#include "drivers/time.h" #include "drivers/time.h"
#include "drivers/timer.h" #include "drivers/timer.h"
@ -475,8 +476,12 @@ static void bbWriteInt(uint8_t motorIndex, uint16_t value)
return; return;
} }
// If there is a command ready to go overwrite the value and send that instead // fetch requestTelemetry from motors. Needs to be refactored.
motorDmaOutput_t * const motor = getMotorDmaOutput(motorIndex);
bbmotor->protocolControl.requestTelemetry = motor->protocolControl.requestTelemetry;
motor->protocolControl.requestTelemetry = false;
// If there is a command ready to go overwrite the value and send that instead
if (dshotCommandIsProcessing()) { if (dshotCommandIsProcessing()) {
value = dshotCommandGetCurrent(motorIndex); value = dshotCommandGetCurrent(motorIndex);
if (value) { if (value) {