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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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13
src/main/fc/cli.c
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@ -2456,6 +2456,7 @@ static void cliDshotProg(char *cmdline)
char *pch = strtok_r(cmdline, " ", &saveptr);
int pos = 0;
int escIndex = 0;
bool firstCommand = true;
while (pch != NULL) {
switch (pos) {
case 0:
@ -2466,12 +2467,19 @@ static void cliDshotProg(char *cmdline)
break;
default:
pwmDisableMotors();
{
int command = atoi(pch);
if (command >= 0 && command < DSHOT_MIN_THROTTLE) {
if (firstCommand) {
pwmDisableMotors();
if (command == DSHOT_CMD_ESC_INFO) {
delay(5); // Wait for potential ESC telemetry transmission to finish
} else {
delay(1);
}
firstCommand = false;
}
if (command != DSHOT_CMD_ESC_INFO) {
@ -2494,6 +2502,7 @@ static void cliDshotProg(char *cmdline)
} else {
cliPrintLinef("Invalid command, range 1 to %d.", DSHOT_MIN_THROTTLE - 1);
}
}
break;
}

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

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

1
src/main/io/beeper.c
View file

@ -365,6 +365,7 @@ void beeperUpdate(timeUs_t currentTimeUs)
#ifdef USE_DSHOT
if (!areMotorsRunning() && beeperConfig()->dshotForward && currentBeeperEntry->mode == BEEPER_RX_SET) {
pwmDisableMotors();
delay(1);
pwmWriteDshotCommand(ALL_MOTORS, getMotorCount(), DSHOT_CMD_BEEP3);