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Code Issues Wiki Activity

Added delay before sending Dshot commands to avoid read errors.

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This commit is contained in:
mikeller 2017-09-10 12:55:47 +12:00
parent ab53b178ca
commit d4b1c06bf8
3 changed files with 32 additions and 21 deletions
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47
src/main/fc/cli.c
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@ -2456,6 +2456,7 @@ static void cliDshotProg(char *cmdline)
char *pch = strtok_r(cmdline, " ", &saveptr); char *pch = strtok_r(cmdline, " ", &saveptr);
int pos = 0; int pos = 0;
int escIndex = 0; int escIndex = 0;
bool firstCommand = true;
while (pch != NULL) { while (pch != NULL) {
switch (pos) { switch (pos) {
case 0: case 0:
@ -2466,33 +2467,41 @@ static void cliDshotProg(char *cmdline)
break; break;
default: default:
pwmDisableMotors(); {
int command = atoi(pch);
if (command >= 0 && command < DSHOT_MIN_THROTTLE) {
if (firstCommand) {
pwmDisableMotors();
int command = atoi(pch); if (command == DSHOT_CMD_ESC_INFO) {
if (command >= 0 && command < DSHOT_MIN_THROTTLE) { delay(5); // Wait for potential ESC telemetry transmission to finish
if (command == DSHOT_CMD_ESC_INFO) { } else {
delay(5); // Wait for potential ESC telemetry transmission to finish delay(1);
} }
if (command != DSHOT_CMD_ESC_INFO) { firstCommand = false;
pwmWriteDshotCommand(escIndex, getMotorCount(), command); }
} else {
if (escIndex != ALL_MOTORS) { if (command != DSHOT_CMD_ESC_INFO) {
executeEscInfoCommand(escIndex); pwmWriteDshotCommand(escIndex, getMotorCount(), command);
} else { } else {
for (uint8_t i = 0; i < getMotorCount(); i++) { if (escIndex != ALL_MOTORS) {
executeEscInfoCommand(i); executeEscInfoCommand(escIndex);
} else {
for (uint8_t i = 0; i < getMotorCount(); i++) {
executeEscInfoCommand(i);
}
} }
} }
}
cliPrintLinef("Command %d written.", command); cliPrintLinef("Command %d written.", command);
if (command <= 5) { if (command <= 5) {
delay(20); // wait for sound output to finish delay(20); // wait for sound output to finish
}
} else {
cliPrintLinef("Invalid command, range 1 to %d.", DSHOT_MIN_THROTTLE - 1);
} }
} else {
cliPrintLinef("Invalid command, range 1 to %d.", DSHOT_MIN_THROTTLE - 1);
} }
break; break;

1
src/main/fc/fc_core.c
View file

@ -265,6 +265,7 @@ void tryArm(void)
#ifdef USE_DSHOT #ifdef USE_DSHOT
if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH)) { if (isMotorProtocolDshot() && isModeActivationConditionPresent(BOXFLIPOVERAFTERCRASH)) {
pwmDisableMotors(); pwmDisableMotors();
delay(1);
if (!IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) { if (!IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
flipOverAfterCrashMode = false; flipOverAfterCrashMode = false;

5
src/main/io/beeper.c
View file

@ -364,11 +364,12 @@ void beeperUpdate(timeUs_t currentTimeUs)
#ifdef USE_DSHOT #ifdef USE_DSHOT
if (!areMotorsRunning() && beeperConfig()->dshotForward && currentBeeperEntry->mode == BEEPER_RX_SET) { if (!areMotorsRunning() && beeperConfig()->dshotForward && currentBeeperEntry->mode == BEEPER_RX_SET) {
pwmDisableMotors(); pwmDisableMotors();
delay(1);
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_BEEP3); pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_BEEP3);
pwmEnableMotors(); pwmEnableMotors();
} }
#endif #endif