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Removed all motors telemetry calculations to avoid extended dshot telemetry overhead

Browse source 
Basic DSHOT telemetry restablished again

Implemented new mechanism to activate EDT. The old mechanism no longer works

Added dshot_edt configuration parameter to enable edt. Parameter is OFF by default

Only send DSHOT edt enable in core.c::tryArm if dshot_edt=ON

Fixed review findings
This commit is contained in:
iso9660 2022-09-24 22:56:33 +02:00 • committed by danmos
parent d72f18fb3f
commit ccdccbf8a9
9 changed files with 215 additions and 234 deletions
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39
src/main/fc/core.c
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@ -509,29 +509,32 @@ void tryArm(void)
return;
}
if (isMotorProtocolDshot()) {
#if defined(USE_ESC_SENSOR) && defined(USE_DSHOT_TELEMETRY)
// Try to activate extended DSHOT telemetry only if no esc sensor exists and dshot telemetry is active
if (isMotorProtocolDshot() && !featureIsEnabled(FEATURE_ESC_SENSOR) && motorConfig()->dev.useDshotTelemetry) {
dshotCleanTelemetryData();
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE, DSHOT_CMD_TYPE_INLINE);
}
// Try to activate extended DSHOT telemetry only if no esc sensor exists and dshot telemetry is active
if (!featureIsEnabled(FEATURE_ESC_SENSOR) && motorConfig()->dev.useDshotTelemetry) {
dshotCleanTelemetryData();
if (motorConfig()->dev.useDshotEdt) {
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_EXTENDED_TELEMETRY_ENABLE, DSHOT_CMD_TYPE_INLINE);
}
}
#endif
if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH)) {
// Set motor spin direction
if (!(IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) || (tryingToArm == ARMING_DELAYED_CRASHFLIP))) {
flipOverAfterCrashActive = false;
if (!featureIsEnabled(FEATURE_3D)) {
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, DSHOT_CMD_TYPE_INLINE);
}
} else {
flipOverAfterCrashActive = true;
if (isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH)) {
// Set motor spin direction
if (!(IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) || (tryingToArm == ARMING_DELAYED_CRASHFLIP))) {
flipOverAfterCrashActive = false;
if (!featureIsEnabled(FEATURE_3D)) {
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, DSHOT_CMD_TYPE_INLINE);
}
} else {
flipOverAfterCrashActive = true;
#ifdef USE_RUNAWAY_TAKEOFF
runawayTakeoffCheckDisabled = false;
runawayTakeoffCheckDisabled = false;
#endif
if (!featureIsEnabled(FEATURE_3D)) {
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED, DSHOT_CMD_TYPE_INLINE);
if (!featureIsEnabled(FEATURE_3D)) {
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED, DSHOT_CMD_TYPE_INLINE);
}
}
}
}