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Keep sending DShot 0 packets between beacon commands (#12544)

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* Keep sending DShot zero between beacon commands

And don't wait 100ms between inline commands, which the beacon commands are.

* use cmpTimeUs for time comparisons

* Fixed intervals between DShot beacons

* fix indentnation, thanks KarateBrot
This commit is contained in:
ctzsnooze 2023-03-22 00:41:45 +11:00 • committed by GitHub
parent 26708ea425
commit d9775287a2
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GPG key ID: 4AEE18F83AFDEB23
4 changed files with 13 additions and 8 deletions
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2
src/main/drivers/dshot_command.c
View file

@ -239,7 +239,7 @@ void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, dshot
dshotCommandControl_t *commandControl = addCommand(); dshotCommandControl_t *commandControl = addCommand();
if (commandControl) { if (commandControl) {
commandControl->repeats = repeats; commandControl->repeats = repeats;
commandControl->delayAfterCommandUs = delayAfterCommandUs; commandControl->delayAfterCommandUs = DSHOT_COMMAND_DELAY_US;
for (unsigned i = 0; i < motorCount; i++) { for (unsigned i = 0; i < motorCount; i++) {
if (index == i || index == ALL_MOTORS) { if (index == i || index == ALL_MOTORS) {
commandControl->command[i] = command; commandControl->command[i] = command;

2
src/main/fc/core.c
View file

@ -495,7 +495,7 @@ void tryArm(void)
const timeUs_t currentTimeUs = micros(); const timeUs_t currentTimeUs = micros();
#ifdef USE_DSHOT #ifdef USE_DSHOT
if (currentTimeUs - getLastDshotBeaconCommandTimeUs() < DSHOT_BEACON_GUARD_DELAY_US) { if (cmpTimeUs(currentTimeUs, getLastDshotBeaconCommandTimeUs()) < DSHOT_BEACON_GUARD_DELAY_US) {
if (tryingToArm == ARMING_DELAYED_DISARMED) { if (tryingToArm == ARMING_DELAYED_DISARMED) {
if (IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) { if (IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH)) {
tryingToArm = ARMING_DELAYED_CRASHFLIP; tryingToArm = ARMING_DELAYED_CRASHFLIP;

14
src/main/io/beeper.c
View file

@ -400,19 +400,21 @@ void beeperUpdate(timeUs_t currentTimeUs)
return; return;
} }
if (!beeperIsOn) {
#ifdef USE_DSHOT #ifdef USE_DSHOT
if (!areMotorsRunning() if (!areMotorsRunning() && (currentBeeperEntry->mode == BEEPER_RX_SET || currentBeeperEntry->mode == BEEPER_RX_LOST)) {
&& ((currentBeeperEntry->mode == BEEPER_RX_SET && !(beeperConfig()->dshotBeaconOffFlags & BEEPER_GET_FLAG(BEEPER_RX_SET))) if (cmpTimeUs(currentTimeUs, getLastDisarmTimeUs()) > DSHOT_BEACON_GUARD_DELAY_US && !isTryingToArm()) {
|| (currentBeeperEntry->mode == BEEPER_RX_LOST && !(beeperConfig()->dshotBeaconOffFlags & BEEPER_GET_FLAG(BEEPER_RX_LOST))))) { const timeDelta_t dShotBeaconInterval = (currentBeeperEntry->mode == BEEPER_RX_SET) ? DSHOT_BEACON_MODE_INTERVAL_US : DSHOT_BEACON_RXLOSS_INTERVAL_US;
if (cmpTimeUs(currentTimeUs, lastDshotBeaconCommandTimeUs) > dShotBeaconInterval) {
if ((currentTimeUs - getLastDisarmTimeUs() > DSHOT_BEACON_GUARD_DELAY_US) && !isTryingToArm()) { // at least 500ms between DShot beacons to allow time for the sound to fully complete
// the DShot Beacon tone duration is determined by the ESC, and should not exceed 250ms
lastDshotBeaconCommandTimeUs = currentTimeUs; lastDshotBeaconCommandTimeUs = currentTimeUs;
dshotCommandWrite(ALL_MOTORS, getMotorCount(), beeperConfig()->dshotBeaconTone, DSHOT_CMD_TYPE_INLINE); dshotCommandWrite(ALL_MOTORS, getMotorCount(), beeperConfig()->dshotBeaconTone, DSHOT_CMD_TYPE_INLINE);
} }
} }
}
#endif #endif
if (!beeperIsOn) {
if (currentBeeperEntry->sequence[beeperPos] != 0) { if (currentBeeperEntry->sequence[beeperPos] != 0) {
if (!(beeperConfig()->beeper_off_flags & BEEPER_GET_FLAG(currentBeeperEntry->mode))) { if (!(beeperConfig()->beeper_off_flags & BEEPER_GET_FLAG(currentBeeperEntry->mode))) {
BEEP_ON; BEEP_ON;

3
src/main/io/beeper.h
View file

@ -27,6 +27,9 @@
#ifdef USE_DSHOT #ifdef USE_DSHOT
#define DSHOT_BEACON_GUARD_DELAY_US 1200000 // Time to separate dshot beacon and armining/disarming events #define DSHOT_BEACON_GUARD_DELAY_US 1200000 // Time to separate dshot beacon and armining/disarming events
// to prevent interference with motor direction commands // to prevent interference with motor direction commands
#define DSHOT_BEACON_MODE_INTERVAL_US 450000 // at least 450ms between successive DShot beacon iterations to allow time for ESC to play tone
#define DSHOT_BEACON_RXLOSS_INTERVAL_US 950000 // at least 950ms between successive DShot beacon iterations to allow time for ESC to play tone
// we check beeper every 100ms, so these result in 500ms and 1.0s in practice
#endif #endif
typedef enum { typedef enum {