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Only wait for ESC to recognise DSHOT signal once at startup (#14408)

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* Only wait for ESC to recognise DSHOT signal once at startup

* Use cmpTimeMs to compare time expressed in ms
This commit is contained in:
Steve Evans 2025-05-27 18:02:24 +01:00 • committed by GitHub
parent 77ceea93e4
commit dd0a37b41c
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GPG key ID: B5690EEEBB952194
2 changed files with 15 additions and 1 deletions
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1
src/main/common/time.h
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@ -46,6 +46,7 @@ typedef uint32_t timeUs_t;
#define SECONDS_PER_MINUTE 60.0f #define SECONDS_PER_MINUTE 60.0f
static inline timeDelta_t cmpTimeUs(timeUs_t a, timeUs_t b) { return (timeDelta_t)(a - b); } static inline timeDelta_t cmpTimeUs(timeUs_t a, timeUs_t b) { return (timeDelta_t)(a - b); }
static inline timeDelta_t cmpTimeMs(timeMs_t a, timeMs_t b) { return (timeDelta_t)(a - b); }
static inline int32_t cmpTimeCycles(uint32_t a, uint32_t b) { return (int32_t)(a - b); } static inline int32_t cmpTimeCycles(uint32_t a, uint32_t b) { return (int32_t)(a - b); }
#define FORMATTED_DATE_TIME_BUFSIZE 30 #define FORMATTED_DATE_TIME_BUFSIZE 30

15
src/main/drivers/dshot_command.c
View file

@ -149,7 +149,20 @@ static bool allMotorsAreIdle(void)
bool dshotStreamingCommandsAreEnabled(void) bool dshotStreamingCommandsAreEnabled(void)
{ {
return motorIsEnabled() && motorGetMotorEnableTimeMs() && millis() > motorGetMotorEnableTimeMs() + DSHOT_PROTOCOL_DETECTION_DELAY_MS; static bool firstCommand = true;
bool goodMotorDetectDelay;
if (firstCommand) {
goodMotorDetectDelay = motorGetMotorEnableTimeMs() && (cmpTimeMs(millis(), motorGetMotorEnableTimeMs()) > DSHOT_PROTOCOL_DETECTION_DELAY_MS);
if (goodMotorDetectDelay) {
firstCommand = false;
}
} else {
goodMotorDetectDelay = true;
}
return motorIsEnabled() && goodMotorDetectDelay;
} }
static bool dshotCommandsAreEnabled(dshotCommandType_e commandType) static bool dshotCommandsAreEnabled(dshotCommandType_e commandType)