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Fixed problem when sending blocking Dshot commands with bitbanged Dshot enabled.

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This commit is contained in:
Michael Keller 2020-12-15 02:29:39 +01:00
parent 57c9c12781
commit bfa5cc1cd4
3 changed files with 15 additions and 8 deletions
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13
src/main/drivers/dshot_command.c
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@ -34,9 +34,10 @@
#include "drivers/dshot.h"
#include "drivers/dshot_dpwm.h"
#include "drivers/dshot_command.h"
#include "drivers/pwm_output.h"
#include "dshot_command.h"
#define DSHOT_PROTOCOL_DETECTION_DELAY_MS 3000
#define DSHOT_INITIAL_DELAY_US 10000
#define DSHOT_COMMAND_DELAY_US 1000
@ -141,7 +142,7 @@ static dshotCommandControl_t* addCommand()
static bool allMotorsAreIdle(void)
{
for (unsigned i = 0; i < dshotPwmDevice.count; i++) {
for (unsigned i = 0; i < motorDeviceCount(); i++) {
const motorDmaOutput_t *motor = getMotorDmaOutput(i);
if (motor->protocolControl.value) {
return false;
@ -216,18 +217,18 @@ void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, dshot
#ifdef USE_DSHOT_TELEMETRY
timeUs_t timeoutUs = micros() + 1000;
while (!pwmStartDshotMotorUpdate() &&
while (!motorGetVTable().updateStart() &&
cmpTimeUs(timeoutUs, micros()) > 0);
#endif
for (uint8_t i = 0; i < dshotPwmDevice.count; i++) {
for (uint8_t i = 0; i < motorDeviceCount(); i++) {
if ((i == index) || (index == ALL_MOTORS)) {
motorDmaOutput_t *const motor = getMotorDmaOutput(i);
motor->protocolControl.requestTelemetry = true;
dshotPwmDevice.vTable.writeInt(i, command);
motorGetVTable().writeInt(i, command);
}
}
dshotPwmDevice.vTable.updateComplete();
motorGetVTable().updateComplete();
}
delayMicroseconds(delayAfterCommandUs);
} else if (commandType == DSHOT_CMD_TYPE_INLINE) {