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Refactored Dshot enabled checks. #9937

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merged 1 commit into from Jul 26, 2020
Merged

Refactored Dshot enabled checks. #9937

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24 changes: 18 additions & 6 deletions src/main/drivers/dshot_command.c
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Expand Up @@ -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;
}

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2 changes: 1 addition & 1 deletion src/main/drivers/dshot_command.h
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Expand Up @@ -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 changes: 1 addition & 1 deletion src/main/fc/core.c
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Expand Up @@ -277,7 +277,7 @@ 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
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