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[4.5.2] Fixes #13934: Fix motor(PWM protocol) spin while fc reset. (#13937) (#13958)

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Fixes #13934: Fix motor(PWM protocol) spin while fc reset. (#13937)

* Fix motor(PWM protocol) spin while fc reset.

* move delay out to motorShutdown

Co-authored-by: ke deng <degkxp@hotmail.com>
This commit is contained in:
Mark Haslinghuis 2024-10-08 23:41:52 +02:00 • committed by GitHub
parent f7697e22fe
commit ad93ec30f1
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1 changed files with 15 additions and 1 deletions
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16
src/main/drivers/motor.c
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@ -51,11 +51,25 @@ static bool motorProtocolDshot = false;
void motorShutdown(void)
{
uint32_t shutdownDelayUs = 1500;
motorDevice->vTable.shutdown();
motorDevice->enabled = false;
motorDevice->motorEnableTimeMs = 0;
motorDevice->initialized = false;
delayMicroseconds(1500);
switch (motorConfig()->dev.motorPwmProtocol) {
case PWM_TYPE_STANDARD:
case PWM_TYPE_ONESHOT125:
case PWM_TYPE_ONESHOT42:
case PWM_TYPE_MULTISHOT:
// Delay 500ms will disarm esc which can prevent motor spin while reboot
shutdownDelayUs += 500 * 1000;
break;
default:
break;
}
delayMicroseconds(shutdownDelayUs);
}
void motorWriteAll(float *values)