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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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15
src/main/drivers/pwm_output.c
View file

@ -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--) {
for (uint8_t i = 0; i < motorCount; i++) {
if ((i == index) || (index == ALL_MOTORS)) {
motorDmaOutput_t *const motor = getMotorDmaOutput(i);
motor->requestTelemetry = true;
pwmWriteDshotInt(index, command);
pwmWriteDshotInt(i, command);
} else {
// Needed to avoid DMA errors
pwmWriteDshotInt(i, DSHOT_CMD_MOTOR_STOP);
}
}
pwmCompleteDshotMotorUpdate(0);
delay(1);
}

4
src/main/drivers/pwm_output.h
View file

@ -24,6 +24,8 @@
#include "drivers/timer.h"
#define ALL_MOTORS 255
#define DSHOT_MAX_COMMAND 47
/*
@ -168,7 +170,7 @@ uint16_t prepareDshotPacket(motorDmaOutput_t *const motor, uint16_t value);
extern loadDmaBufferFn *loadDmaBuffer;
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);
void pwmWriteDshotInt(uint8_t index, uint16_t value);
void pwmDshotMotorHardwareConfig(const timerHardware_t *timerHardware, uint8_t motorIndex, motorPwmProtocolTypes_e pwmProtocolType, uint8_t output);
void pwmCompleteDshotMotorUpdate(uint8_t motorCount);

30
src/main/fc/cli.c
View file

@ -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);
delay(10); // Wait for potential ESC telemetry transmission to finish
startEscDataRead(escInfoBuffer, ESC_INFO_V2_EXPECTED_FRAME_SIZE);
}
pwmWriteDshotCommand(escIndex, command);
pwmWriteDshotCommand(escIndex, getMotorCount(), DSHOT_CMD_ESC_INFO);
if (command == DSHOT_CMD_ESC_INFO) {
delay(10);
delay(5);
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);

8
src/main/fc/fc_core.c
View file

@ -264,14 +264,10 @@ void tryArm(void)
if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXDSHOTREVERSE)) {
if (!IS_RC_MODE_ACTIVE(BOXDSHOTREVERSE)) {
reverseMotors = false;
for (unsigned index = 0; index < getMotorCount(); index++) {
pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_NORMAL);
}
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL);
} else {
reverseMotors = true;
for (unsigned index = 0; index < getMotorCount(); index++) {
pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_REVERSED);
}
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED);
}
}
#endif

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

@ -102,8 +102,6 @@ PG_DECLARE(motorConfig_t, motorConfig);
#define CHANNEL_FORWARDING_DISABLED (uint8_t)0xFF
#define ALL_MOTORS 255
extern const mixer_t mixers[];
extern float motor[MAX_SUPPORTED_MOTORS];
extern float motor_disarmed[MAX_SUPPORTED_MOTORS];

4
src/main/io/beeper.c
View file

@ -364,9 +364,7 @@ void beeperUpdate(timeUs_t currentTimeUs)
#ifdef USE_DSHOT
if (!ARMING_FLAG(ARMED) && beeperConfig()->dshotForward && currentBeeperEntry->mode == BEEPER_RX_SET) {
for (unsigned index = 0; index < getMotorCount(); index++) {
pwmWriteDshotCommand(index, DSHOT_CMD_BEEP3);
}
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_BEEP3);
}
#endif

2
src/main/sensors/esc_sensor.c
View file

@ -285,7 +285,7 @@ void escSensorProcess(timeUs_t currentTimeUs)
{
const timeMs_t currentTimeMs = currentTimeUs / 1000;
if (!escSensorPort) {
if (!escSensorPort || !pwmAreMotorsEnabled()) {
return;
}