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Fix blocking DSHOT commands

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Motor and DSHOT refactoring broke blocking DSHOT commands as the check for commands being enabled was not taking into account that "blocking" type commands need to operate only when the motors are not enabled.

Fixes the CLI `dshotprog` command.
This commit is contained in:
Bruce Luckcuck 2020-04-17 08:29:24 -04:00
parent a2aa3f19f4
commit c6c9ba7229
5 changed files with 28 additions and 21 deletions
Download patch file Download diff file Expand all files Collapse all files

23
src/main/drivers/dshot_command.c
View file

@ -151,18 +151,23 @@ static bool allMotorsAreIdle(void)
return true;
}
bool dshotCommandsAreEnabled(void)
bool dshotCommandsAreEnabled(dshotCommandType_e commandType)
{
if (motorIsEnabled() && motorGetMotorEnableTimeMs() && millis() > motorGetMotorEnableTimeMs() + DSHOT_PROTOCOL_DETECTION_DELAY_MS) {
return true;
} else {
return false;
bool ret = false;
if (commandType == DSHOT_CMD_TYPE_BLOCKING) {
ret = !motorIsEnabled();
} else if (commandType == DSHOT_CMD_TYPE_INLINE) {
if (motorIsEnabled() && motorGetMotorEnableTimeMs() && millis() > motorGetMotorEnableTimeMs() + DSHOT_PROTOCOL_DETECTION_DELAY_MS) {
ret = true;
}
}
return ret;
}
void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, bool blocking)
void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, dshotCommandType_e commandType)
{
if (!isMotorProtocolDshot() || !dshotCommandsAreEnabled() || (command > DSHOT_MAX_COMMAND) || dshotCommandQueueFull()) {
if (!isMotorProtocolDshot() || !dshotCommandsAreEnabled(commandType) || (command > DSHOT_MAX_COMMAND) || dshotCommandQueueFull()) {
return;
}
@ -192,7 +197,7 @@ void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, bool
break;
}
if (blocking) {
if (commandType == DSHOT_CMD_TYPE_BLOCKING) {
delayMicroseconds(DSHOT_INITIAL_DELAY_US - DSHOT_COMMAND_DELAY_US);
for (; repeats; repeats--) {
delayMicroseconds(DSHOT_COMMAND_DELAY_US);
@ -213,7 +218,7 @@ void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, bool
dshotPwmDevice.vTable.updateComplete();
}
delayMicroseconds(delayAfterCommandUs);
} else {
} else if (commandType == DSHOT_CMD_TYPE_INLINE) {
dshotCommandControl_t *commandControl = addCommand();
if (commandControl) {
commandControl->repeats = repeats;