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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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38
src/main/fc/cli.c
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@ -2339,24 +2339,18 @@ void printEscInfo(const uint8_t *escInfoBytes, uint8_t bytesRead)
}
}
static void writeDshotCommand(uint8_t escIndex, uint8_t command)
static void executeEscInfoCommand(uint8_t escIndex)
{
uint8_t escInfoBuffer[ESC_INFO_V2_EXPECTED_FRAME_SIZE];
if (command == DSHOT_CMD_ESC_INFO) {
cliPrintLinef("Info for ESC %d:", escIndex);
cliPrintLinef("Info for ESC %d:", escIndex);
delay(10); // Wait for potential ESC telemetry transmission to finish
startEscDataRead(escInfoBuffer, ESC_INFO_V2_EXPECTED_FRAME_SIZE);
startEscDataRead(escInfoBuffer, ESC_INFO_V2_EXPECTED_FRAME_SIZE);
}
pwmWriteDshotCommand(escIndex, getMotorCount(), DSHOT_CMD_ESC_INFO);
pwmWriteDshotCommand(escIndex, command);
delay(5);
if (command == DSHOT_CMD_ESC_INFO) {
delay(10);
printEscInfo(escInfoBuffer, getNumberEscBytesRead());
}
printEscInfo(escInfoBuffer, getNumberEscBytesRead());
}
static void cliDshotProg(char *cmdline)
@ -2385,18 +2379,26 @@ static void cliDshotProg(char *cmdline)
int command = atoi(pch);
if (command >= 0 && command < DSHOT_MIN_THROTTLE) {
if (escIndex == ALL_MOTORS) {
for (unsigned i = 0; i < getMotorCount(); i++) {
writeDshotCommand(i, command);
}
if (command == DSHOT_CMD_ESC_INFO) {
delay(5); // Wait for potential ESC telemetry transmission to finish
}
if (command != DSHOT_CMD_ESC_INFO) {
pwmWriteDshotCommand(escIndex, getMotorCount(), command);
} else {
writeDshotCommand(escIndex, command);
if (escIndex != ALL_MOTORS) {
executeEscInfoCommand(escIndex);
} else {
for (uint8_t i = 0; i < getMotorCount(); i++) {
executeEscInfoCommand(i);
}
}
}
cliPrintLinef("Command %d written.", command);
if (command <= 5) {
delay(10); // wait for sound output to finish
delay(20); // wait for sound output to finish
}
} else {
cliPrintLinef("Invalid command, range 1 to %d.", DSHOT_MIN_THROTTLE - 1);