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Merge pull request #9937 from mikeller/refactor_dshot_enabled_checks

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Refactored Dshot enabled checks.
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Michael Keller 2020-07-26 15:30:40 +12:00 • committed by GitHub
commit 9ae9b32aad
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3 changed files with 20 additions and 8 deletions
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24
src/main/drivers/dshot_command.c
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@ -151,17 +151,29 @@ static bool allMotorsAreIdle(void)
return true; return true;
} }
bool dshotCommandsAreEnabled(dshotCommandType_e commandType) bool dshotStreamingCommandsAreEnabled(void)
{
return motorIsEnabled() && motorGetMotorEnableTimeMs() && millis() > motorGetMotorEnableTimeMs() + DSHOT_PROTOCOL_DETECTION_DELAY_MS;
}
static bool dshotCommandsAreEnabled(dshotCommandType_e commandType)
{ {
bool ret = false; bool ret = false;
if (commandType == DSHOT_CMD_TYPE_BLOCKING) { switch (commandType) {
case DSHOT_CMD_TYPE_BLOCKING:
ret = !motorIsEnabled(); ret = !motorIsEnabled();
} else if (commandType == DSHOT_CMD_TYPE_INLINE) {
if (motorIsEnabled() && motorGetMotorEnableTimeMs() && millis() > motorGetMotorEnableTimeMs() + DSHOT_PROTOCOL_DETECTION_DELAY_MS) { break;
ret = true; case DSHOT_CMD_TYPE_INLINE:
} ret = dshotStreamingCommandsAreEnabled();
break;
default:
break;
} }
return ret; return ret;
} }

2
src/main/drivers/dshot_command.h
View file

@ -73,4 +73,4 @@ bool dshotCommandQueueEmpty(void);
bool dshotCommandIsProcessing(void); bool dshotCommandIsProcessing(void);
uint8_t dshotCommandGetCurrent(uint8_t index); uint8_t dshotCommandGetCurrent(uint8_t index);
bool dshotCommandOutputIsEnabled(uint8_t motorCount); bool dshotCommandOutputIsEnabled(uint8_t motorCount);
bool dshotCommandsAreEnabled(dshotCommandType_e commandType); bool dshotStreamingCommandsAreEnabled(void);

2
src/main/fc/core.c
View file

@ -276,7 +276,7 @@ void updateArmingStatus(void)
// We also need to prevent arming until it's possible to send DSHOT commands. // We also need to prevent arming until it's possible to send DSHOT commands.
// Otherwise if the initial arming is in crash-flip the motor direction commands // Otherwise if the initial arming is in crash-flip the motor direction commands
// might not be sent. // might not be sent.
&& (!isMotorProtocolDshot() || dshotCommandsAreEnabled(DSHOT_CMD_TYPE_INLINE)) && (!isMotorProtocolDshot() || dshotStreamingCommandsAreEnabled())
#endif #endif
) { ) {
// If so, unset the grace time arming disable flag // If so, unset the grace time arming disable flag