Merge pull request #9937 from mikeller/refactor_dshot_enabled_checks
Refactored Dshot enabled checks.
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commit
9ae9b32aad
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@ -151,17 +151,29 @@ static bool allMotorsAreIdle(void)
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return true;
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}
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bool dshotCommandsAreEnabled(dshotCommandType_e commandType)
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bool dshotStreamingCommandsAreEnabled(void)
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{
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return motorIsEnabled() && motorGetMotorEnableTimeMs() && millis() > motorGetMotorEnableTimeMs() + DSHOT_PROTOCOL_DETECTION_DELAY_MS;
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}
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static bool dshotCommandsAreEnabled(dshotCommandType_e commandType)
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{
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bool ret = false;
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if (commandType == DSHOT_CMD_TYPE_BLOCKING) {
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switch (commandType) {
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case DSHOT_CMD_TYPE_BLOCKING:
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ret = !motorIsEnabled();
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} else if (commandType == DSHOT_CMD_TYPE_INLINE) {
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if (motorIsEnabled() && motorGetMotorEnableTimeMs() && millis() > motorGetMotorEnableTimeMs() + DSHOT_PROTOCOL_DETECTION_DELAY_MS) {
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ret = true;
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}
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break;
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case DSHOT_CMD_TYPE_INLINE:
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ret = dshotStreamingCommandsAreEnabled();
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break;
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default:
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break;
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}
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return ret;
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}
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@ -73,4 +73,4 @@ bool dshotCommandQueueEmpty(void);
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bool dshotCommandIsProcessing(void);
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uint8_t dshotCommandGetCurrent(uint8_t index);
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bool dshotCommandOutputIsEnabled(uint8_t motorCount);
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bool dshotCommandsAreEnabled(dshotCommandType_e commandType);
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bool dshotStreamingCommandsAreEnabled(void);
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@ -276,7 +276,7 @@ void updateArmingStatus(void)
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// We also need to prevent arming until it's possible to send DSHOT commands.
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// Otherwise if the initial arming is in crash-flip the motor direction commands
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// might not be sent.
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&& (!isMotorProtocolDshot() || dshotCommandsAreEnabled(DSHOT_CMD_TYPE_INLINE))
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&& (!isMotorProtocolDshot() || dshotStreamingCommandsAreEnabled())
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#endif
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) {
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// If so, unset the grace time arming disable flag
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