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Merge pull request #9321 from shirase/dshot-delay-fix

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DSHOT delay fix
This commit is contained in:
Paweł Spychalski 2023-09-28 14:27:01 +02:00 • committed by GitHub
commit c8c1e37779
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GPG key ID: 4AEE18F83AFDEB23
1 changed files with 22 additions and 7 deletions
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29
src/main/drivers/pwm_output.c
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@ -119,6 +119,7 @@ static bool pwmMotorsEnabled = true;
static timeUs_t digitalMotorUpdateIntervalUs = 0; static timeUs_t digitalMotorUpdateIntervalUs = 0;
static timeUs_t digitalMotorLastUpdateUs; static timeUs_t digitalMotorLastUpdateUs;
static timeUs_t lastCommandSent = 0; static timeUs_t lastCommandSent = 0;
static timeUs_t commandPostDelay = 0;
static circularBuffer_t commandsCircularBuffer; static circularBuffer_t commandsCircularBuffer;
static uint8_t commandsBuff[DHSOT_COMMAND_QUEUE_SIZE]; static uint8_t commandsBuff[DHSOT_COMMAND_QUEUE_SIZE];
@ -419,7 +420,7 @@ static int getDShotCommandRepeats(dshotCommands_e cmd) {
return repeats; return repeats;
} }
static void executeDShotCommands(void){ static bool executeDShotCommands(void){
timeUs_t tNow = micros(); timeUs_t tNow = micros();
@ -430,18 +431,30 @@ static void executeDShotCommands(void){
dshotCommands_e cmd; dshotCommands_e cmd;
circularBufferPopHead(&commandsCircularBuffer, (uint8_t *) &cmd); circularBufferPopHead(&commandsCircularBuffer, (uint8_t *) &cmd);
currentExecutingCommand.cmd = cmd; currentExecutingCommand.cmd = cmd;
currentExecutingCommand.remainingRepeats = getDShotCommandRepeats(cmd); currentExecutingCommand.remainingRepeats = getDShotCommandRepeats(cmd);
commandPostDelay = DSHOT_COMMAND_INTERVAL_US;
} else { } else {
return; if (commandPostDelay) {
if (tNow - lastCommandSent < commandPostDelay) {
return false;
}
commandPostDelay = 0;
}
return true;
} }
} }
delayMicroseconds(DSHOT_COMMAND_DELAY_US);
for (uint8_t i = 0; i < getMotorCount(); i++) { for (uint8_t i = 0; i < getMotorCount(); i++) {
motors[i].requestTelemetry = true; motors[i].requestTelemetry = true;
motors[i].value = currentExecutingCommand.cmd; motors[i].value = currentExecutingCommand.cmd;
} }
currentExecutingCommand.remainingRepeats--; if (tNow - lastCommandSent >= DSHOT_COMMAND_DELAY_US) {
lastCommandSent = tNow; currentExecutingCommand.remainingRepeats--;
lastCommandSent = tNow;
return true;
} else {
return false;
}
} }
#endif #endif
@ -464,7 +477,9 @@ void pwmCompleteMotorUpdate(void) {
#ifdef USE_DSHOT #ifdef USE_DSHOT
if (isMotorProtocolDshot()) { if (isMotorProtocolDshot()) {
executeDShotCommands(); if (!executeDShotCommands()) {
return;
}
#ifdef USE_DSHOT_DMAR #ifdef USE_DSHOT_DMAR
for (int index = 0; index < motorCount; index++) { for (int index = 0; index < motorCount; index++) {