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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

7
src/main/cli/cli.c
View file

@ -3803,7 +3803,7 @@ static void executeEscInfoCommand(const char *cmdName, uint8_t escIndex)
startEscDataRead(escInfoBuffer, ESC_INFO_BLHELI32_EXPECTED_FRAME_SIZE); startEscDataRead(escInfoBuffer, ESC_INFO_BLHELI32_EXPECTED_FRAME_SIZE);
dshotCommandWrite(escIndex, getMotorCount(), DSHOT_CMD_ESC_INFO, true); dshotCommandWrite(escIndex, getMotorCount(), DSHOT_CMD_ESC_INFO, DSHOT_CMD_TYPE_BLOCKING);
delay(10); delay(10);
@ -3811,9 +3811,6 @@ static void executeEscInfoCommand(const char *cmdName, uint8_t escIndex)
} }
#endif // USE_ESC_SENSOR && USE_ESC_SENSOR_INFO #endif // USE_ESC_SENSOR && USE_ESC_SENSOR_INFO
// XXX Review dshotprog command under refactored motor handling
static void cliDshotProg(const char *cmdName, char *cmdline) static void cliDshotProg(const char *cmdName, char *cmdline)
{ {
if (isEmpty(cmdline) || !isMotorProtocolDshot()) { if (isEmpty(cmdline) || !isMotorProtocolDshot()) {
@ -3854,7 +3851,7 @@ static void cliDshotProg(const char *cmdName, char *cmdline)
} }
if (command != DSHOT_CMD_ESC_INFO) { if (command != DSHOT_CMD_ESC_INFO) {
dshotCommandWrite(escIndex, getMotorCount(), command, true); dshotCommandWrite(escIndex, getMotorCount(), command, DSHOT_CMD_TYPE_BLOCKING);
} else { } else {
#if defined(USE_ESC_SENSOR) && defined(USE_ESC_SENSOR_INFO) #if defined(USE_ESC_SENSOR) && defined(USE_ESC_SENSOR_INFO)
if (featureIsEnabled(FEATURE_ESC_SENSOR)) { if (featureIsEnabled(FEATURE_ESC_SENSOR)) {

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

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

9
src/main/drivers/dshot_command.h
View file

@ -62,10 +62,15 @@ typedef enum {
DSHOT_CMD_MAX = 47 DSHOT_CMD_MAX = 47
} dshotCommands_e; } dshotCommands_e;
void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, bool blocking); typedef enum {
DSHOT_CMD_TYPE_INLINE = 0, // dshot commands sent inline with motor signal (motors must be enabled)
DSHOT_CMD_TYPE_BLOCKING // dshot commands sent in blocking method (motors must be disabled)
} dshotCommandType_e;
void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, dshotCommandType_e commandType);
void dshotSetPidLoopTime(uint32_t pidLoopTime); void dshotSetPidLoopTime(uint32_t pidLoopTime);
bool dshotCommandQueueEmpty(void); 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(void); bool dshotCommandsAreEnabled(dshotCommandType_e commandType);

8
src/main/fc/core.c
View file

@ -277,7 +277,7 @@ 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.
&& dshotCommandsAreEnabled() && dshotCommandsAreEnabled(DSHOT_CMD_TYPE_INLINE)
#endif #endif
) { ) {
// If so, unset the grace time arming disable flag // If so, unset the grace time arming disable flag
@ -458,7 +458,7 @@ void disarm(flightLogDisarmReason_e reason)
BEEP_OFF; BEEP_OFF;
#ifdef USE_DSHOT #ifdef USE_DSHOT
if (isMotorProtocolDshot() && flipOverAfterCrashActive && !featureIsEnabled(FEATURE_3D)) { if (isMotorProtocolDshot() && flipOverAfterCrashActive && !featureIsEnabled(FEATURE_3D)) {
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false); dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, DSHOT_CMD_TYPE_INLINE);
} }
#endif #endif
flipOverAfterCrashActive = false; flipOverAfterCrashActive = false;
@ -509,7 +509,7 @@ void tryArm(void)
if (!(IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) || (tryingToArm == ARMING_DELAYED_CRASHFLIP))) { if (!(IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) || (tryingToArm == ARMING_DELAYED_CRASHFLIP))) {
flipOverAfterCrashActive = false; flipOverAfterCrashActive = false;
if (!featureIsEnabled(FEATURE_3D)) { if (!featureIsEnabled(FEATURE_3D)) {
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false); dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, DSHOT_CMD_TYPE_INLINE);
} }
} else { } else {
flipOverAfterCrashActive = true; flipOverAfterCrashActive = true;
@ -517,7 +517,7 @@ void tryArm(void)
runawayTakeoffCheckDisabled = false; runawayTakeoffCheckDisabled = false;
#endif #endif
if (!featureIsEnabled(FEATURE_3D)) { if (!featureIsEnabled(FEATURE_3D)) {
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED, false); dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED, DSHOT_CMD_TYPE_INLINE);
} }
} }
} }

2
src/main/io/beeper.c
View file

@ -401,7 +401,7 @@ void beeperUpdate(timeUs_t currentTimeUs)
if ((currentTimeUs - getLastDisarmTimeUs() > DSHOT_BEACON_GUARD_DELAY_US) && !isTryingToArm()) { if ((currentTimeUs - getLastDisarmTimeUs() > DSHOT_BEACON_GUARD_DELAY_US) && !isTryingToArm()) {
lastDshotBeaconCommandTimeUs = currentTimeUs; lastDshotBeaconCommandTimeUs = currentTimeUs;
dshotCommandWrite(ALL_MOTORS, getMotorCount(), beeperConfig()->dshotBeaconTone, false); dshotCommandWrite(ALL_MOTORS, getMotorCount(), beeperConfig()->dshotBeaconTone, DSHOT_CMD_TYPE_INLINE);
} }
} }
#endif #endif