DNM: New dshot driver test

make.py

@@ -577,6 +577,7 @@ def configure_target(TARGET):
     INCLUDES = " ".join("-I" + include for include in INCLUDE_DIRS)
 
     LTO_FLAGS = "-flto -fuse-linker-plugin"
+    #DEBUG_FLAGS = "-ggdb3 -DDEBUG -O0"
     DEBUG_FLAGS = "-ggdb3 -DDEBUG -Og"
 
     CFLAGS = " ".join([

src/flight_controller/inc/telemetry/dshotTwoWay.h

@@ -51,10 +51,12 @@ typedef struct
     uint32_t            motorCommMask;
 } dshot_command_handler;
 
+extern volatile int dShotFeedTheDog;
 extern volatile dshot_command_handler dshotCommandHandler;
 
 extern void DshotInit(int offlineMode);
 extern int  InitDshotCommandState(void);
 extern int  HandleDshotCommands(void);
 extern void ThrottleToDshot(uint8_t *serialOutBuffer, float throttle, float idle, int reverse);
 extern void CommandToDshot(uint8_t *serialOutBuffer, uint16_t command);
+extern void DshotTransferComplete(uint32_t callbackNumber);

src/flight_controller/src/config.c

@@ -1,6 +1,5 @@
 #include "includes.h"
 
-
 // use variable record but instead of storing address of variable, store offset based on address of field, that way it works with the record loaded from file
 
 extern volatile int logMe;

src/flight_controller/src/imu.c

@@ -40,6 +40,11 @@ quaternion_record MultiplyQuatAndQuat(volatile quaternion_record quatIn1, volati
 void              EulerToVector(volatile vector_record *outVector, float x, float y, float z);
 void              VectorAddVector(volatile vector_record *vectorOut, vector_record vectorIn, float trust);
 
+vector_record RotateVectorByQuaternionQV(volatile quaternion_record quatIn, volatile vector_record vectorIn);
+void VectorCrossProduct(volatile vector_record *vectorOut, volatile vector_record vectorIn1, volatile vector_record vectorIn2);
+vector_record RotateVectorByQuaternionVQ(volatile vector_record vectorIn, volatile quaternion_record quatIn);
+vector_record QuaternionToVector(volatile quaternion_record quatIn);
+
 //quats are defined like this: X is roll, Y is pitch, Z is yaw.
 //Positive X is a roll to the right which matches our gyro
 //Positive Y is a pitch down which is opposite of our gyro

src/flight_controller/src/main.c

@@ -19,10 +19,12 @@ int main(void)
 
     retValChk = BoardInit();
 
-    //DshotInit(1);
-
     retValChk = HandleRfbl();
 
+    DshotInit(1);
+    //TESTING ONLY!!
+    while(1);
+
     retValChk = LoadConfig(ADDRESS_CONFIG_START);
 
     SpektrumBind(mainConfig.rcControlsConfig.bind);

src/flight_controller/src/scheduler.c

@@ -436,7 +436,7 @@ void TaskAdc(void)
 void TaskProcessSoftSerial(void)
 {
 	//feed the dog if oneWire is active to prevent WD restart
-	if (oneWireActive)
+	if (oneWireActive || dShotFeedTheDog)
 		FeedTheDog();
 
 	//feed the dog if dshot commanding is active to prevent WD restart