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Merge pull request #9712 from etracer65/fix_blocking_dshot_command

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Fix blocking DSHOT commands
This commit is contained in:
Michael Keller 2020-04-20 23:07:40 +12:00 • committed by GitHub
commit e060a0d507
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GPG key ID: 4AEE18F83AFDEB23
5 changed files with 28 additions and 21 deletions
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7
src/main/cli/cli.c
View file

@ -3803,7 +3803,7 @@ static void executeEscInfoCommand(const char *cmdName, uint8_t escIndex)
startEscDataRead(escInfoBuffer, ESC_INFO_BLHELI32_EXPECTED_FRAME_SIZE); startEscDataRead(escInfoBuffer, ESC_INFO_BLHELI32_EXPECTED_FRAME_SIZE);
dshotCommandWrite(escIndex, getMotorCount(), DSHOT_CMD_ESC_INFO, true); dshotCommandWrite(escIndex, getMotorCount(), DSHOT_CMD_ESC_INFO, DSHOT_CMD_TYPE_BLOCKING);
delay(10); delay(10);
@ -3811,9 +3811,6 @@ static void executeEscInfoCommand(const char *cmdName, uint8_t escIndex)
} }
#endif // USE_ESC_SENSOR && USE_ESC_SENSOR_INFO #endif // USE_ESC_SENSOR && USE_ESC_SENSOR_INFO
// XXX Review dshotprog command under refactored motor handling
static void cliDshotProg(const char *cmdName, char *cmdline) static void cliDshotProg(const char *cmdName, char *cmdline)
{ {
if (isEmpty(cmdline) || !isMotorProtocolDshot()) { if (isEmpty(cmdline) || !isMotorProtocolDshot()) {
@ -3854,7 +3851,7 @@ static void cliDshotProg(const char *cmdName, char *cmdline)
} }
if (command != DSHOT_CMD_ESC_INFO) { if (command != DSHOT_CMD_ESC_INFO) {
dshotCommandWrite(escIndex, getMotorCount(), command, true); dshotCommandWrite(escIndex, getMotorCount(), command, DSHOT_CMD_TYPE_BLOCKING);
} else { } else {
#if defined(USE_ESC_SENSOR) && defined(USE_ESC_SENSOR_INFO) #if defined(USE_ESC_SENSOR) && defined(USE_ESC_SENSOR_INFO)
if (featureIsEnabled(FEATURE_ESC_SENSOR)) { if (featureIsEnabled(FEATURE_ESC_SENSOR)) {

23
src/main/drivers/dshot_command.c
View file

@ -151,18 +151,23 @@ static bool allMotorsAreIdle(void)
return true; return true;
} }
bool dshotCommandsAreEnabled(void) bool dshotCommandsAreEnabled(dshotCommandType_e commandType)
{ {
if (motorIsEnabled() && motorGetMotorEnableTimeMs() && millis() > motorGetMotorEnableTimeMs() + DSHOT_PROTOCOL_DETECTION_DELAY_MS) { bool ret = false;
return true;
} else { if (commandType == DSHOT_CMD_TYPE_BLOCKING) {
return false; ret = !motorIsEnabled();
} else if (commandType == DSHOT_CMD_TYPE_INLINE) {
if (motorIsEnabled() && motorGetMotorEnableTimeMs() && millis() > motorGetMotorEnableTimeMs() + DSHOT_PROTOCOL_DETECTION_DELAY_MS) {
ret = true;
}
} }
return ret;
} }
void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, bool blocking) void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, dshotCommandType_e commandType)
{ {
if (!isMotorProtocolDshot() || !dshotCommandsAreEnabled() || (command > DSHOT_MAX_COMMAND) || dshotCommandQueueFull()) { if (!isMotorProtocolDshot() || !dshotCommandsAreEnabled(commandType) || (command > DSHOT_MAX_COMMAND) || dshotCommandQueueFull()) {
return; return;
} }
@ -192,7 +197,7 @@ void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, bool
break; break;
} }
if (blocking) { if (commandType == DSHOT_CMD_TYPE_BLOCKING) {
delayMicroseconds(DSHOT_INITIAL_DELAY_US - DSHOT_COMMAND_DELAY_US); delayMicroseconds(DSHOT_INITIAL_DELAY_US - DSHOT_COMMAND_DELAY_US);
for (; repeats; repeats--) { for (; repeats; repeats--) {
delayMicroseconds(DSHOT_COMMAND_DELAY_US); delayMicroseconds(DSHOT_COMMAND_DELAY_US);
@ -213,7 +218,7 @@ void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, bool
dshotPwmDevice.vTable.updateComplete(); dshotPwmDevice.vTable.updateComplete();
} }
delayMicroseconds(delayAfterCommandUs); delayMicroseconds(delayAfterCommandUs);
} else { } else if (commandType == DSHOT_CMD_TYPE_INLINE) {
dshotCommandControl_t *commandControl = addCommand(); dshotCommandControl_t *commandControl = addCommand();
if (commandControl) { if (commandControl) {
commandControl->repeats = repeats; commandControl->repeats = repeats;

9
src/main/drivers/dshot_command.h
View file

@ -62,10 +62,15 @@ typedef enum {
DSHOT_CMD_MAX = 47 DSHOT_CMD_MAX = 47
} dshotCommands_e; } dshotCommands_e;
void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, bool blocking); typedef enum {
DSHOT_CMD_TYPE_INLINE = 0, // dshot commands sent inline with motor signal (motors must be enabled)
DSHOT_CMD_TYPE_BLOCKING // dshot commands sent in blocking method (motors must be disabled)
} dshotCommandType_e;
void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, dshotCommandType_e commandType);
void dshotSetPidLoopTime(uint32_t pidLoopTime); void dshotSetPidLoopTime(uint32_t pidLoopTime);
bool dshotCommandQueueEmpty(void); bool dshotCommandQueueEmpty(void);
bool dshotCommandIsProcessing(void); bool dshotCommandIsProcessing(void);
uint8_t dshotCommandGetCurrent(uint8_t index); uint8_t dshotCommandGetCurrent(uint8_t index);
bool dshotCommandOutputIsEnabled(uint8_t motorCount); bool dshotCommandOutputIsEnabled(uint8_t motorCount);
bool dshotCommandsAreEnabled(void); bool dshotCommandsAreEnabled(dshotCommandType_e commandType);

8
src/main/fc/core.c
View file

@ -277,7 +277,7 @@ void updateArmingStatus(void)
// We also need to prevent arming until it's possible to send DSHOT commands. // We also need to prevent arming until it's possible to send DSHOT commands.
// Otherwise if the initial arming is in crash-flip the motor direction commands // Otherwise if the initial arming is in crash-flip the motor direction commands
// might not be sent. // might not be sent.
&& dshotCommandsAreEnabled() && dshotCommandsAreEnabled(DSHOT_CMD_TYPE_INLINE)
#endif #endif
) { ) {
// If so, unset the grace time arming disable flag // If so, unset the grace time arming disable flag
@ -458,7 +458,7 @@ void disarm(flightLogDisarmReason_e reason)
BEEP_OFF; BEEP_OFF;
#ifdef USE_DSHOT #ifdef USE_DSHOT
if (isMotorProtocolDshot() && flipOverAfterCrashActive && !featureIsEnabled(FEATURE_3D)) { if (isMotorProtocolDshot() && flipOverAfterCrashActive && !featureIsEnabled(FEATURE_3D)) {
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false); dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, DSHOT_CMD_TYPE_INLINE);
} }
#endif #endif
flipOverAfterCrashActive = false; flipOverAfterCrashActive = false;
@ -509,7 +509,7 @@ void tryArm(void)
if (!(IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) || (tryingToArm == ARMING_DELAYED_CRASHFLIP))) { if (!(IS_RC_MODE_ACTIVE(BOXFLIPOVERAFTERCRASH) || (tryingToArm == ARMING_DELAYED_CRASHFLIP))) {
flipOverAfterCrashActive = false; flipOverAfterCrashActive = false;
if (!featureIsEnabled(FEATURE_3D)) { if (!featureIsEnabled(FEATURE_3D)) {
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, false); dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_NORMAL, DSHOT_CMD_TYPE_INLINE);
} }
} else { } else {
flipOverAfterCrashActive = true; flipOverAfterCrashActive = true;
@ -517,7 +517,7 @@ void tryArm(void)
runawayTakeoffCheckDisabled = false; runawayTakeoffCheckDisabled = false;
#endif #endif
if (!featureIsEnabled(FEATURE_3D)) { if (!featureIsEnabled(FEATURE_3D)) {
dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED, false); dshotCommandWrite(ALL_MOTORS, getMotorCount(), DSHOT_CMD_SPIN_DIRECTION_REVERSED, DSHOT_CMD_TYPE_INLINE);
} }
} }
} }

2
src/main/io/beeper.c
View file

@ -401,7 +401,7 @@ void beeperUpdate(timeUs_t currentTimeUs)
if ((currentTimeUs - getLastDisarmTimeUs() > DSHOT_BEACON_GUARD_DELAY_US) && !isTryingToArm()) { if ((currentTimeUs - getLastDisarmTimeUs() > DSHOT_BEACON_GUARD_DELAY_US) && !isTryingToArm()) {
lastDshotBeaconCommandTimeUs = currentTimeUs; lastDshotBeaconCommandTimeUs = currentTimeUs;
dshotCommandWrite(ALL_MOTORS, getMotorCount(), beeperConfig()->dshotBeaconTone, false); dshotCommandWrite(ALL_MOTORS, getMotorCount(), beeperConfig()->dshotBeaconTone, DSHOT_CMD_TYPE_INLINE);
} }
} }
#endif #endif