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Merge pull request #9937 from mikeller/refactor_dshot_enabled_checks 

Refactored Dshot enabled checks.
This commit is contained in:
Michael Keller 2020-07-26 15:30:40 +12:00 committed by GitHub
parent 0e28a646fd c2812eca8c
commit 9ae9b32aad
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GPG Key ID: 4AEE18F83AFDEB23
3 changed files with 20 additions and 8 deletions
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24
src/main/drivers/dshot_command.c
View File

@ -151,17 +151,29 @@ static bool allMotorsAreIdle(void)
return true;
}
bool dshotCommandsAreEnabled(dshotCommandType_e commandType)
bool dshotStreamingCommandsAreEnabled(void)
{
return motorIsEnabled() && motorGetMotorEnableTimeMs() && millis() > motorGetMotorEnableTimeMs() + DSHOT_PROTOCOL_DETECTION_DELAY_MS;
}
static bool dshotCommandsAreEnabled(dshotCommandType_e commandType)
{
bool ret = false;
if (commandType == DSHOT_CMD_TYPE_BLOCKING) {
switch (commandType) {
case DSHOT_CMD_TYPE_BLOCKING:
ret = !motorIsEnabled();
} else if (commandType == DSHOT_CMD_TYPE_INLINE) {
if (motorIsEnabled() && motorGetMotorEnableTimeMs() && millis() > motorGetMotorEnableTimeMs() + DSHOT_PROTOCOL_DETECTION_DELAY_MS) {
ret = true;
}
break;
case DSHOT_CMD_TYPE_INLINE:
ret = dshotStreamingCommandsAreEnabled();
break;
default:
break;
}
return ret;
}

2
src/main/drivers/dshot_command.h
View File

@ -73,4 +73,4 @@ bool dshotCommandQueueEmpty(void);
bool dshotCommandIsProcessing(void);
uint8_t dshotCommandGetCurrent(uint8_t index);
bool dshotCommandOutputIsEnabled(uint8_t motorCount);
bool dshotCommandsAreEnabled(dshotCommandType_e commandType);
bool dshotStreamingCommandsAreEnabled(void);

2
src/main/fc/core.c
View File

@ -276,7 +276,7 @@ void updateArmingStatus(void)
// 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.
&& (!isMotorProtocolDshot() || dshotCommandsAreEnabled(DSHOT_CMD_TYPE_INLINE))
&& (!isMotorProtocolDshot() || dshotStreamingCommandsAreEnabled())
#endif
) {
// If so, unset the grace time arming disable flag