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Prevent DSHOT commands during protocol initialization/detection (#8927)

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Prevent DSHOT commands during protocol initialization/detection
This commit is contained in:
Michael Keller 2019-09-23 18:57:44 +12:00 • committed by GitHub
commit e2c569269a
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GPG key ID: 4AEE18F83AFDEB23
5 changed files with 35 additions and 2 deletions
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12
src/main/drivers/dshot_command.c
View file

@ -37,6 +37,7 @@
#include "drivers/dshot_command.h"
#include "drivers/pwm_output.h"
#define DSHOT_PROTOCOL_DETECTION_DELAY_MS 3000
#define DSHOT_INITIAL_DELAY_US 10000
#define DSHOT_COMMAND_DELAY_US 1000
#define DSHOT_ESCINFO_DELAY_US 12000
@ -150,9 +151,18 @@ static bool allMotorsAreIdle(void)
return true;
}
bool dshotCommandsAreEnabled(void)
{
if (motorIsEnabled() && motorGetMotorEnableTimeMs() && millis() > motorGetMotorEnableTimeMs() + DSHOT_PROTOCOL_DETECTION_DELAY_MS) {
return true;
} else {
return false;
}
}
void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, bool blocking)
{
if (!isMotorProtocolDshot() || (command > DSHOT_MAX_COMMAND) || dshotCommandQueueFull()) {
if (!isMotorProtocolDshot() || !dshotCommandsAreEnabled() || (command > DSHOT_MAX_COMMAND) || dshotCommandQueueFull()) {
return;
}

1
src/main/drivers/dshot_command.h
View file

@ -68,3 +68,4 @@ bool dshotCommandQueueEmpty(void);
bool dshotCommandIsProcessing(void);
uint8_t dshotCommandGetCurrent(uint8_t index);
bool dshotCommandOutputIsEnabled(uint8_t motorCount);
bool dshotCommandsAreEnabled(void);

11
src/main/drivers/motor.c
View file

@ -50,6 +50,7 @@ void motorShutdown(void)
{
motorDevice->vTable.shutdown();
motorDevice->enabled = false;
motorDevice->motorEnableTimeMs = 0;
motorDevice->initialized = false;
delayMicroseconds(1500);
}
@ -246,6 +247,7 @@ void motorDevInit(const motorDevConfig_t *motorConfig, uint16_t idlePulse, uint8
if (motorDevice) {
motorDevice->count = motorCount;
motorDevice->initialized = true;
motorDevice->motorEnableTimeMs = 0;
motorDevice->enabled = false;
} else {
motorNullDevice.vTable = motorNullVTable;
@ -257,12 +259,14 @@ void motorDisable(void)
{
motorDevice->vTable.disable();
motorDevice->enabled = false;
motorDevice->motorEnableTimeMs = 0;
}
void motorEnable(void)
{
if (motorDevice->initialized && motorDevice->vTable.enable()) {
motorDevice->enabled = true;
motorDevice->motorEnableTimeMs = millis();
}
}
@ -281,6 +285,13 @@ bool isMotorProtocolDshot(void)
return isDshot;
}
#ifdef USE_DSHOT
timeMs_t motorGetMotorEnableTimeMs(void)
{
return motorDevice->motorEnableTimeMs;
}
#endif
#ifdef USE_DSHOT_BITBANG
bool isDshotBitbangActive(const motorDevConfig_t *motorConfig) {
return motorConfig->useDshotBitbang == DSHOT_BITBANG_ON ||

4
src/main/drivers/motor.h
View file

@ -22,6 +22,8 @@
#pragma once
#include "common/time.h"
typedef enum {
PWM_TYPE_STANDARD = 0,
PWM_TYPE_ONESHOT125,
@ -62,6 +64,7 @@ typedef struct motorDevice_s {
uint8_t count;
bool initialized;
bool enabled;
timeMs_t motorEnableTimeMs;
} motorDevice_t;
void motorPostInitNull();
@ -85,6 +88,7 @@ void motorDisable(void);
void motorEnable(void);
bool motorIsEnabled(void);
bool motorIsMotorEnabled(uint8_t index);
timeMs_t motorGetMotorEnableTimeMs(void);
void motorShutdown(void); // Replaces stopPwmAllMotors
#ifdef USE_DSHOT_BITBANG

9
src/main/fc/core.c
View file

@ -220,7 +220,14 @@ void updateArmingStatus(void)
LED0_ON;
} else {
// Check if the power on arming grace time has elapsed
if ((getArmingDisableFlags() & ARMING_DISABLED_BOOT_GRACE_TIME) && (millis() >= systemConfig()->powerOnArmingGraceTime * 1000)) {
if ((getArmingDisableFlags() & ARMING_DISABLED_BOOT_GRACE_TIME) && (millis() >= systemConfig()->powerOnArmingGraceTime * 1000)
#ifdef USE_DSHOT
// 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
// might not be sent.
&& dshotCommandsAreEnabled()
#endif
) {
// If so, unset the grace time arming disable flag
unsetArmingDisabled(ARMING_DISABLED_BOOT_GRACE_TIME);
}