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[4.5.2] fix timer based bidirectional dshot command not working (#13991)

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Fixes #13930: fix timer based bidirectional dshot command not working issue (#13978)

* fix timer based bidirectional dshot command not working issue

* smaller scope of isBitbangActive

Co-authored-by: ke deng <degkxp@hotmail.com>
This commit is contained in:
Mark Haslinghuis 2024-10-22 17:54:22 +02:00 • committed by GitHub
parent ad93ec30f1
commit fccb3548b0
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GPG key ID: B5690EEEBB952194
1 changed files with 12 additions and 3 deletions
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15
src/main/drivers/dshot_command.c
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@ -208,6 +208,10 @@ void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, dshot
}
if (commandType == DSHOT_CMD_TYPE_BLOCKING) {
bool isBitbangActive = false;
#ifdef USE_DSHOT_BITBANG
isBitbangActive = isDshotBitbangActive(&motorConfig()->dev);
#endif
// Fake command in queue. Blocking commands are launched from cli, and no inline commands are running
for (uint8_t i = 0; i < motorDeviceCount(); i++) {
commandQueue[commandQueueTail].command[i] = (i == index || index == ALL_MOTORS) ? command : DSHOT_CMD_MOTOR_STOP;
@ -217,6 +221,11 @@ void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, dshot
for (; repeats; repeats--) {
delayMicroseconds(DSHOT_COMMAND_DELAY_US);
#if defined(USE_DSHOT) && defined(USE_DSHOT_TELEMETRY)
if (!isBitbangActive) {
vTable->decodeTelemetry();
}
#endif
// Initialise the output buffers
if (vTable->updateInit) {
vTable->updateInit();
@ -235,10 +244,10 @@ void dshotCommandWrite(uint8_t index, uint8_t motorCount, uint8_t command, dshot
vTable->updateComplete();
// Perform the decode of the last data received
// New data will be received once the send of motor data, triggered above, completes
#if defined(USE_DSHOT) && defined(USE_DSHOT_TELEMETRY)
vTable->decodeTelemetry();
if (isBitbangActive) {
vTable->decodeTelemetry();
}
#endif
}
delayMicroseconds(delayAfterCommandUs);