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Code Issues Wiki Activity

Fixed Dshot command sending to all motors.

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This commit is contained in:
mikeller 2017-08-23 01:52:49 +12:00
parent cda31ef88a
commit 91ffa4b88c
7 changed files with 39 additions and 36 deletions
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17
src/main/drivers/pwm_output.c
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@ -372,11 +372,9 @@ uint32_t getDshotHz(motorPwmProtocolTypes_e pwmProtocolType)
}
}
void pwmWriteDshotCommand(uint8_t index, uint8_t command)
void pwmWriteDshotCommand(uint8_t index, uint8_t motorCount, uint8_t command)
{
if (isDshot && (command <= DSHOT_MAX_COMMAND)) {
motorDmaOutput_t *const motor = getMotorDmaOutput(index);
unsigned repeats;
switch (command) {
case DSHOT_CMD_SPIN_DIRECTION_1:
@ -394,8 +392,17 @@ void pwmWriteDshotCommand(uint8_t index, uint8_t command)
}
for (; repeats; repeats--) {
motor->requestTelemetry = true;
pwmWriteDshotInt(index, command);
for (uint8_t i = 0; i < motorCount; i++) {
if ((i == index) || (index == ALL_MOTORS)) {
motorDmaOutput_t *const motor = getMotorDmaOutput(i);
motor->requestTelemetry = true;
pwmWriteDshotInt(i, command);
} else {
// Needed to avoid DMA errors
pwmWriteDshotInt(i, DSHOT_CMD_MOTOR_STOP);
}
}
pwmCompleteDshotMotorUpdate(0);
delay(1);
}