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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);
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;
} else {
break;
default:
repeats = 1;
break;
}
for (; repeats; repeats--) {
motor->requestTelemetry = true;
pwmWritePtr(index, command);

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

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

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

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

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

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