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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
View file

@ -34,9 +34,10 @@
#include "drivers/dshot.h" #include "drivers/dshot.h"
#include "drivers/dshot_dpwm.h" #include "drivers/dshot_dpwm.h"
#include "drivers/dshot_command.h"
#include "drivers/pwm_output.h" #include "drivers/pwm_output.h"
#include "dshot_command.h"
#define DSHOT_PROTOCOL_DETECTION_DELAY_MS 3000 #define DSHOT_PROTOCOL_DETECTION_DELAY_MS 3000
#define DSHOT_INITIAL_DELAY_US 10000 #define DSHOT_INITIAL_DELAY_US 10000
#define DSHOT_COMMAND_DELAY_US 1000 #define DSHOT_COMMAND_DELAY_US 1000
@ -141,7 +142,7 @@ static dshotCommandControl_t* addCommand()
static bool allMotorsAreIdle(void) 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); const motorDmaOutput_t *motor = getMotorDmaOutput(i);
if (motor->protocolControl.value) { if (motor->protocolControl.value) {
return false; return false;
@ -216,18 +217,18 @@ void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, dshot
#ifdef USE_DSHOT_TELEMETRY #ifdef USE_DSHOT_TELEMETRY
timeUs_t timeoutUs = micros() + 1000; timeUs_t timeoutUs = micros() + 1000;
while (!pwmStartDshotMotorUpdate() && while (!motorGetVTable().updateStart() &&
cmpTimeUs(timeoutUs, micros()) > 0); cmpTimeUs(timeoutUs, micros()) > 0);
#endif #endif
for (uint8_t i = 0; i < dshotPwmDevice.count; i++) { for (uint8_t i = 0; i < motorDeviceCount(); i++) {
if ((i == index) || (index == ALL_MOTORS)) { if ((i == index) || (index == ALL_MOTORS)) {
motorDmaOutput_t *const motor = getMotorDmaOutput(i); motorDmaOutput_t *const motor = getMotorDmaOutput(i);
motor->protocolControl.requestTelemetry = true; motor->protocolControl.requestTelemetry = true;
dshotPwmDevice.vTable.writeInt(i, command); motorGetVTable().writeInt(i, command);
} }
} }
dshotPwmDevice.vTable.updateComplete(); motorGetVTable().updateComplete();
} }
delayMicroseconds(delayAfterCommandUs); delayMicroseconds(delayAfterCommandUs);
} else if (commandType == DSHOT_CMD_TYPE_INLINE) { } else if (commandType == DSHOT_CMD_TYPE_INLINE) {

7
src/main/drivers/motor.c
View file

@ -73,11 +73,16 @@ void motorWriteAll(float *values)
#endif #endif
} }
int motorDeviceCount(void) unsigned motorDeviceCount(void)
{ {
return motorDevice->count; return motorDevice->count;
} }
motorVTable_t motorGetVTable(void)
{
return motorDevice->vTable;
}
// This is not motor generic anymore; should be moved to analog pwm module // This is not motor generic anymore; should be moved to analog pwm module
static void analogInitEndpoints(const motorConfig_t *motorConfig, float outputLimit, float *outputLow, float *outputHigh, float *disarm, float *deadbandMotor3dHigh, float *deadbandMotor3dLow) { static void analogInitEndpoints(const motorConfig_t *motorConfig, float outputLimit, float *outputLow, float *outputHigh, float *disarm, float *deadbandMotor3dHigh, float *deadbandMotor3dLow) {
if (featureIsEnabled(FEATURE_3D)) { if (featureIsEnabled(FEATURE_3D)) {

3
src/main/drivers/motor.h
View file

@ -83,7 +83,8 @@ uint16_t motorConvertToExternal(float motorValue);
struct motorDevConfig_s; // XXX Shouldn't be needed once pwm_output* is really cleaned up. struct motorDevConfig_s; // XXX Shouldn't be needed once pwm_output* is really cleaned up.
void motorDevInit(const struct motorDevConfig_s *motorConfig, uint16_t idlePulse, uint8_t motorCount); void motorDevInit(const struct motorDevConfig_s *motorConfig, uint16_t idlePulse, uint8_t motorCount);
int motorDeviceCount(void); unsigned motorDeviceCount(void);
motorVTable_t motorGetVTable(void);
bool checkMotorProtocolEnabled(const motorDevConfig_t *motorConfig, bool *protocolIsDshot); bool checkMotorProtocolEnabled(const motorDevConfig_t *motorConfig, bool *protocolIsDshot);
bool isMotorProtocolDshot(void); bool isMotorProtocolDshot(void);
bool isMotorProtocolEnabled(void); bool isMotorProtocolEnabled(void);