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Merge pull request #3307 from mikeller/add_dshot_command_switch

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Changed 'pwmWriteDshotCommand' to use switch for better readability.
This commit is contained in:
Michael Keller 2017-06-19 00:36:49 +12:00 • committed by GitHub
commit dc69c03886
4 changed files with 20 additions and 8 deletions
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14
src/main/drivers/pwm_output.c
View file

@ -338,11 +338,21 @@ void pwmWriteDshotCommand(uint8_t index, uint8_t command)
motorDmaOutput_t *const motor = getMotorDmaOutput(index); motorDmaOutput_t *const motor = getMotorDmaOutput(index);
unsigned repeats; unsigned repeats;
if ((command >= DSHOT_CMD_SPIN_ONE_WAY && command <= DSHOT_CMD_3D_MODE_ON ) || command == DSHOT_CMD_SAVE_SETTINGS || (command >= DSHOT_CMD_ROTATE_NORMAL && command <= DSHOT_CMD_ROTATE_REVERSE) ) { switch (command) {
case DSHOT_CMD_SPIN_DIRECTION_1:
case DSHOT_CMD_SPIN_DIRECTION_2:
case DSHOT_CMD_3D_MODE_OFF:
case DSHOT_CMD_3D_MODE_ON:
case DSHOT_CMD_SAVE_SETTINGS:
case DSHOT_CMD_SPIN_DIRECTION_NORMAL:
case DSHOT_CMD_SPIN_DIRECTION_REVERSED:
repeats = 10; repeats = 10;
} else { break;
default:
repeats = 1; repeats = 1;
break;
} }
for (; repeats; repeats--) { for (; repeats; repeats--) {
motor->requestTelemetry = true; motor->requestTelemetry = true;
pwmWritePtr(index, command); pwmWritePtr(index, command);

8
src/main/drivers/pwm_output.h
View file

@ -36,14 +36,14 @@ typedef enum {
DSHOT_CMD_BEEP4, DSHOT_CMD_BEEP4,
DSHOT_CMD_BEEP5, DSHOT_CMD_BEEP5,
DSHOT_CMD_ESC_INFO, DSHOT_CMD_ESC_INFO,
DSHOT_CMD_SPIN_ONE_WAY, DSHOT_CMD_SPIN_DIRECTION_1,
DSHOT_CMD_SPIN_OTHER_WAY, DSHOT_CMD_SPIN_DIRECTION_2,
DSHOT_CMD_3D_MODE_OFF, DSHOT_CMD_3D_MODE_OFF,
DSHOT_CMD_3D_MODE_ON, DSHOT_CMD_3D_MODE_ON,
DSHOT_CMD_SETTINGS_REQUEST, DSHOT_CMD_SETTINGS_REQUEST,
DSHOT_CMD_SAVE_SETTINGS, DSHOT_CMD_SAVE_SETTINGS,
DSHOT_CMD_ROTATE_NORMAL = 20, //Blheli_S only command DSHOT_CMD_SPIN_DIRECTION_NORMAL = 20, //Blheli_S only command
DSHOT_CMD_ROTATE_REVERSE = 21, //Blheli_S only command DSHOT_CMD_SPIN_DIRECTION_REVERSED = 21, //Blheli_S only command
DSHOT_CMD_MAX = 47 DSHOT_CMD_MAX = 47
} dshotCommands_e; } dshotCommands_e;

5
src/main/fc/fc_core.c
View file

@ -207,16 +207,17 @@ void mwArm(void)
} }
if (!ARMING_FLAG(PREVENT_ARMING)) { if (!ARMING_FLAG(PREVENT_ARMING)) {
#ifdef USE_DSHOT #ifdef USE_DSHOT
//TODO: Use BOXDSHOTREVERSE here
if (!feature(FEATURE_3D) && !IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) { if (!feature(FEATURE_3D) && !IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
reverseMotors = false; reverseMotors = false;
for (unsigned index = 0; index < getMotorCount(); index++) { for (unsigned index = 0; index < getMotorCount(); index++) {
pwmWriteDshotCommand(index, DSHOT_CMD_ROTATE_NORMAL); pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_NORMAL);
} }
} }
if (!feature(FEATURE_3D) && IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) { if (!feature(FEATURE_3D) && IS_RC_MODE_ACTIVE(BOX3DDISABLESWITCH)) {
reverseMotors = true; reverseMotors = true;
for (unsigned index = 0; index < getMotorCount(); index++) { for (unsigned index = 0; index < getMotorCount(); index++) {
pwmWriteDshotCommand(index, DSHOT_CMD_ROTATE_REVERSE); pwmWriteDshotCommand(index, DSHOT_CMD_SPIN_DIRECTION_REVERSED);
} }
} }
#endif #endif

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

@ -370,6 +370,7 @@ void initActiveBoxIds(void)
BME(BOXFPVANGLEMIX); BME(BOXFPVANGLEMIX);
//TODO: Split this into BOX3DDISABLESWITCH and BOXDSHOTREVERSE
BME(BOX3DDISABLESWITCH); BME(BOX3DDISABLESWITCH);
if (feature(FEATURE_SERVO_TILT)) { if (feature(FEATURE_SERVO_TILT)) {