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Fixed Dshot command check on non-F7.
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parent
11d8171c36
commit
906a4bcb78
2 changed files with 9 additions and 7 deletions
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@ -386,6 +386,11 @@ uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType)
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}
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}
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}
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}
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FAST_RAM bool pwmIsProcessingDshotCommand(void)
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{
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return dshotCommandControl.nextCommandAt;
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}
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void pwmWriteDshotCommand(uint8_t index, uint8_t motorCount, uint8_t command, bool blocking)
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void pwmWriteDshotCommand(uint8_t index, uint8_t motorCount, uint8_t command, bool blocking)
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{
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{
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timeUs_t timeNowUs = micros();
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timeUs_t timeNowUs = micros();
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@ -448,11 +453,6 @@ void pwmWriteDshotCommand(uint8_t index, uint8_t motorCount, uint8_t command, bo
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}
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}
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}
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}
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FAST_RAM bool pwmIsProcessingDshotCommand(void)
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{
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return dshotCommandControl.nextCommandAt;
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}
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uint8_t pwmGetDshotCommand(uint8_t index)
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uint8_t pwmGetDshotCommand(uint8_t index)
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{
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{
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return dshotCommandControl.command[index];
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return dshotCommandControl.command[index];
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@ -97,8 +97,10 @@ void pwmCompleteDshotMotorUpdate(uint8_t motorCount)
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UNUSED(motorCount);
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UNUSED(motorCount);
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/* If there is a dshot command loaded up, time it correctly with motor update*/
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/* If there is a dshot command loaded up, time it correctly with motor update*/
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if (pwmIsProcessingDshotCommand()) {
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if (!pwmProcessDshotCommand(motorCount)) {
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if (!pwmProcessDshotCommand(motorCount)) {
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return; //Skip motor update
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return;
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}
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}
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}
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for (int i = 0; i < dmaMotorTimerCount; i++) {
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for (int i = 0; i < dmaMotorTimerCount; i++) {
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